A method and system for vertiport unmanned aerial vehicle flight management

Abstract

The application provides a method and system for vertical take-off and landing field unmanned aerial vehicle flight management, the method comprising: determining a set of available take-off points and a set of available landing points from all unmanned aerial vehicle take-off and landing points of a vertical take-off and landing field; obtaining initial take-off information of an unmanned aerial vehicle taking off from the vertical take-off and landing field, and determining a take-off point of the unmanned aerial vehicle from the set of available take-off points and determining a take-off phase four-dimensional track flight plan of the unmanned aerial vehicle based on the initial take-off information of the unmanned aerial vehicle, wherein the initial take-off information comprises a predetermined take-off time, a predetermined departure point and take-off phase space constraint information of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly from the take-off point to the corresponding predetermined departure point based on the take-off phase four-dimensional track flight plan. The method can provide safe, fair and efficient flight management for the take-off and landing flight of unmanned aerial vehicles of different low-altitude business operation service providers in the range of the vertical take-off and landing field, and can better serve the low-altitude economy and has good market value.

Description

Technical Field

[0001] This application relates to the field of low-altitude transportation technology, and more particularly to a technology for flight management of unmanned aerial vehicles (UAVs) in vertical take-off and landing fields. Background Technology

[0002] The rapid development of the drone industry has spurred the growth of the low-altitude economy, with increasing demand for low-altitude logistics services utilizing various types of drones as transport carriers. The most crucial infrastructure for low-altitude transportation is the vertical take-off and landing (VTOL) field, which provides take-off and landing services for different low-altitude service providers. However, low-altitude transportation is an emerging field, lacking unified safety standards, and existing civil aviation airport air traffic control mechanisms are not suitable for managing low-altitude drones. Therefore, providing safe, fair, and efficient flight management for drones from different low-altitude service providers operating within the VTOL field is a pressing technical challenge. Summary of the Invention

[0003] The purpose of this application is to provide a method and system for managing the flight of unmanned aerial vehicles (UAVs) in vertical take-off and landing (VTOL) fields, so as to provide safe, fair and efficient flight management for UAVs of different low-altitude business operators that take off and land in VTOL fields within the VTOL field area.

[0004] According to one aspect of this application, a method for flight management of unmanned aerial vehicles (UAVs) at vertical takeoff and landing (VTOL) sites is provided, wherein the method includes:

[0005] Determine the set of available takeoff points and the set of available landing points from all UAV takeoff and landing points in the vertical takeoff and landing field;

[0006] Acquire the initial takeoff information of the UAV taking off from the vertical takeoff and landing field, and based on the initial takeoff information of the UAV, determine the takeoff point of the UAV from the set of available takeoff points, and determine the four-dimensional flight plan of the UAV during the takeoff phase, wherein the initial takeoff information includes the UAV's scheduled takeoff time, scheduled departure point and takeoff phase spatial constraint information.

[0007] Based on the four-dimensional flight plan for the takeoff phase, the UAV is controlled to fly from the takeoff point to the corresponding predetermined departure point.

[0008] Optionally, determining the takeoff point of the UAV from the set of available takeoff points based on the UAV's initial takeoff information includes:

[0009] Based on the scheduled takeoff time of the UAV, determine the scheduled takeoff time window of the UAV;

[0010] From the set of available takeoff points, determine several available takeoff points that meet the predetermined takeoff time window of the UAV, and sort them in ascending order of distance from the predetermined departure point of the UAV.

[0011] The system sequentially checks whether the corresponding four-dimensional flight plan for each takeoff phase meets the preset no-conflict constraint for the takeoff phase, and determines the first available takeoff point that meets the constraint as the takeoff point of the UAV.

[0012] Optionally, all UAV take-off and landing points in the vertical take-off and landing field are arranged in a regular ring, wherein controlling the UAV to fly from the take-off point to the corresponding predetermined departure point includes:

[0013] The UAV is controlled to fly vertically from the takeoff point to the corresponding takeoff reference point located in the takeoff transition zone, and then fly horizontally from the takeoff reference point to the takeoff transition point corresponding to the predetermined departure point in a preset direction, and then fly horizontally from the takeoff transition point to the predetermined departure point. The takeoff transition zone is a circular airspace located at a first preset vertical height and parallel to the ground. The projection of its outer edge on the ground coincides with the ring formed by the regular layout of the UAV takeoff and landing points. The takeoff reference point and the takeoff transition point are located at the outer edge of the takeoff transition zone. The predetermined departure point is a circular airspace located at the same vertical height as the takeoff transition zone and whose radius satisfies a first preset threshold compared to the radius of the takeoff transition zone.

[0014] Optionally, the method for flight management of unmanned aerial vehicles (UAVs) at vertical take-off and landing sites further includes:

[0015] Acquire the initial landing information of a UAV landing at a vertical take-off and landing field, wherein the initial landing information includes the UAV's predetermined entry time, predetermined entry point, and spatial constraint information during the landing phase;

[0016] Based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field, the predetermined landing point of the UAV is determined from the set of available landing points, and the four-dimensional trajectory flight plan for the landing phase of the UAV at the predetermined entry time is determined.

[0017] When the UAV flies to the vertical take-off and landing field, the current speed and spatial position of the UAV are obtained, and the entry time of the UAV is determined based on the current speed and spatial position.

[0018] If the arrival time of the UAV is different from the predetermined arrival time, the four-dimensional trajectory flight plan and landing point of the landing phase are adjusted, and based on the adjusted four-dimensional trajectory flight plan of the landing phase, the UAV is controlled to fly from the predetermined arrival point to the adjusted landing point.

[0019] Optionally, determining the predetermined landing point of the UAV from the set of available landing points based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field includes:

[0020] Based on the scheduled arrival time of the drone, determine the scheduled arrival time window of the drone;

[0021] Based on the real-time monitoring information of the vertical take-off and landing field, several available landing points that meet the predetermined entry time window of the UAV are determined from the set of available landing points. The landing points are sorted in ascending order according to their horizontal distance from the predetermined entry point of the UAV. The corresponding landing phase four-dimensional trajectory flight plan is judged one by one in sequence to see if it meets the preset landing phase no-conflict constraint condition. The first available landing point that meets the condition is determined as the predetermined landing point of the UAV.

[0022] Optionally, if the arrival time of the UAV differs from the predetermined arrival time, adjusting the four-dimensional trajectory flight plan and landing point during the landing phase includes:

[0023] If the arrival time of the drone is different from the predetermined arrival time, the landing time at the predetermined landing point is calculated based on the obtained arrival speed of the drone, the arrival time of the drone and the predetermined arrival point, and the landing time window of the drone is determined.

[0024] If the UAV's four-dimensional trajectory flight plan for the landing phase from the entry point to the predetermined landing point does not meet the preset no-conflict constraint condition for the landing phase, then several available landing points within the landing time window are determined from the set of available landing points. These landing points are sorted in ascending order of their horizontal distance from the UAV's predetermined entry point, and each landing point is sequentially checked to determine whether its corresponding four-dimensional trajectory flight plan for the landing phase meets the preset no-conflict constraint condition for the landing phase. The first available landing point that meets the condition is determined as the UAV's adjusted landing point, and its corresponding four-dimensional trajectory flight plan for the landing phase is used as the adjusted four-dimensional trajectory flight plan for the landing phase.

[0025] Optionally, all UAV take-off and landing points in the vertical take-off and landing field are arranged in a regular ring, wherein controlling the UAV to fly from the predetermined entry point to the adjusted landing point includes:

[0026] The UAV is controlled to fly horizontally from the entry point to the corresponding landing transition point located in the landing transition zone, and then fly horizontally from the landing transition point to the landing reference point corresponding to the adjusted landing point in a preset direction, and then land vertically from the landing reference point to the adjusted landing point. The landing transition zone is a circular airspace located at a second preset vertical height and parallel to the ground. The projection of its outer edge on the ground coincides with the ring formed by the regular layout of the UAV take-off and landing points. The landing transition point and the landing reference point are located at the outer edge of the landing transition zone. The predetermined entry point is a circular airspace located at the same vertical height as the landing transition zone and whose radius satisfies a second preset threshold compared to the radius of the landing transition zone.

[0027] According to another aspect of this application, a system for flight management of unmanned aerial vehicles (UAVs) at vertical takeoff and landing (VTOL) sites is provided, wherein the system comprises:

[0028] The ground resource allocation subsystem is used to determine the set of available take-off points and the set of available landing points from all UAV take-off and landing points in the vertical take-off and landing field.

[0029] The takeoff scheduling and management subsystem is used to acquire the initial takeoff information of the UAV taking off from the vertical takeoff and landing field, and based on the initial takeoff information of the UAV, determine the takeoff point of the UAV from the set of available takeoff points, determine the four-dimensional trajectory flight plan of the UAV during the takeoff phase, and control the UAV to fly from the takeoff point to the corresponding predetermined departure point based on the four-dimensional trajectory flight plan during the takeoff phase. The initial takeoff information includes the predetermined takeoff time, predetermined departure point and takeoff phase spatial constraint information of the UAV.

[0030] Optionally, the system for flight management of unmanned aerial vehicles (UAVs) at vertical takeoff and landing sites further includes:

[0031] The landing scheduling and management subsystem is used to acquire the initial landing information of a UAV landing at a vertical take-off and landing field, and determine the predetermined landing point of the UAV from the set of available landing points based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field, and determine the four-dimensional trajectory flight plan of the UAV during the landing phase. When the UAV flies to the vertical take-off and landing field, the system acquires the current speed and spatial position of the UAV, and determines the arrival time of the UAV based on the current speed and spatial position. If it is different from the predetermined arrival time, the system adjusts the four-dimensional trajectory flight plan and landing point during the landing phase, and controls the UAV to fly from the predetermined arrival point to the adjusted landing point based on the adjusted four-dimensional trajectory flight plan during the landing phase. The initial landing information includes the predetermined arrival time, predetermined arrival point and spatial constraint information of the UAV during the landing phase.

[0032] Compared with the prior art, this application provides a method and system for flight management of unmanned aerial vehicles (UAVs) at vertical take-off and landing (VTOL) fields. The method includes: determining a set of available take-off points and a set of available landing points from all UAV take-off and landing points at the VTOL field; acquiring initial take-off information of a UAV taking off from the VTOL field, and determining the take-off point of the UAV from the set of available take-off points based on the initial take-off information; and determining a four-dimensional flight plan for the take-off phase of the UAV, wherein the initial take-off information includes the UAV's predetermined take-off time, predetermined departure point, and take-off phase spatial constraint information; and controlling the UAV to fly from the take-off point to the corresponding predetermined departure point based on the four-dimensional flight plan for the take-off phase. Furthermore, the method further includes: acquiring initial landing information of a UAV landing at a vertical take-off and landing (VTOL) field, wherein the initial landing information includes the UAV's predetermined arrival time, predetermined arrival point, and spatial constraint information during the landing phase; determining the predetermined landing point of the UAV from the set of available landing points based on the initial landing information and real-time monitoring information of the VTOL field, and determining the UAV's four-dimensional trajectory flight plan for the landing phase; when the UAV approaches the VTOL field, acquiring the UAV's current speed and spatial position, and determining the UAV's arrival time based on the current speed and spatial position; if the UAV's arrival time differs from the predetermined arrival time, adjusting the four-dimensional trajectory flight plan and landing point for the landing phase, and controlling the UAV to fly from the predetermined arrival point to the adjusted landing point based on the adjusted four-dimensional trajectory flight plan for the landing phase. This application can provide safe, fair, and efficient flight management for UAVs of different low-altitude service operators taking off and landing within the VTOL field range, better serving the low-altitude economy and possessing significant market value. Attached Figure Description

[0033] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0034] Figure 1 A schematic diagram is shown of a method for flight management of unmanned aerial vehicles in a vertical take-off and landing field according to one aspect of this application;

[0035] Figure 2 A schematic diagram of a vertical take-off and landing field UAV take-off and landing point layout is shown as an example of one aspect of this application;

[0036] Figure 3 This diagram illustrates a layout of a vertical takeoff and landing field UAV takeoff and landing point according to one aspect of this application.

[0037] Figure 4This diagram illustrates the departure space partitioning of a vertical takeoff and landing field according to one aspect of this application.

[0038] Figure 5 This diagram illustrates the access space division of a vertical takeoff and landing field according to one aspect of this application.

[0039] Figure 6 This illustration shows a schematic diagram of a system for flight management of unmanned aerial vehicles (UAVs) at a vertical take-off and landing field, according to another aspect of this application.

[0040] The same or similar reference numerals in the accompanying drawings represent the same or similar parts. Detailed Implementation

[0041] The present application will now be described in further detail with reference to the accompanying drawings.

[0042] In a typical configuration of various embodiments of this application, the method execution entity, each trusted party of the system, and / or each module of the device may include one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0043] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0044] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include non-transitory computer-readable media, such as modulated data signals and carrier waves.

[0045] To further illustrate the technical means adopted and the effects achieved in this application, the technical solution of this application will be clearly and completely described below in conjunction with the accompanying drawings and preferred embodiments.

[0046] Figure 1 The diagram illustrates a method for flight management of a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) at a vertical takeoff and landing field, according to one aspect of this application. One embodiment of the method includes:

[0047] S101 determines the set of available takeoff points and the set of available landing points from all UAV takeoff and landing points in the vertical takeoff and landing field;

[0048] S102 acquires the initial takeoff information of the UAV taking off from the vertical takeoff and landing field, and based on the initial takeoff information of the UAV, determines the takeoff point of the UAV from the set of available takeoff points, and determines the four-dimensional flight plan of the UAV for the takeoff phase, wherein the initial takeoff information includes the UAV's predetermined takeoff time, predetermined departure point and takeoff phase spatial constraint information.

[0049] Based on the four-dimensional flight plan for the takeoff phase, S103 controls the UAV to fly from the takeoff point to the corresponding predetermined departure point.

[0050] The method for managing unmanned aerial vehicle (UAV) flights at a vertical take-off and landing (VTOL) field, which is claimed in this application, is implemented and / or executed by a UAV flight management system 100 at the VTOL field. The UAV flight management system 100 is deployed on computer equipment and / or in the cloud, which possesses the necessary hardware and software environment. The computer equipment includes, but is not limited to, personal computers, laptops, industrial computers, embedded computers, servers, network hosts, single network servers, or network server clusters. The cloud consists of a large number of computers or network servers based on cloud computing, where cloud computing is a type of distributed computing, consisting of a virtual supercomputer composed of a loosely coupled set of computers.

[0051] The computer equipment and / or cloud described herein are merely examples. Other existing or future equipment and / or resource platforms that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0052] In this application, the vertical take-off and landing field, as a hub or node infrastructure for low-altitude transportation, can provide flight management services for the take-off and landing phases of drones of different shapes and sizes (light, small, medium, large, etc.) that provide various low-altitude transportation services (such as instant delivery, general logistics transportation, special goods transportation, city sightseeing, low-altitude commuting, etc.) for different low-altitude transportation operators through the drone flight management system 100.

[0053] In this embodiment, in step S101, the UAV flight management system 100 can determine the set of available take-off points and the set of available landing points from all UAV take-off and landing points in the vertical take-off and landing field.

[0054] In a vertical take-off and landing (VTOL) field, several take-off and landing points are set up at suitable locations for UAVs to take off or land. To maximize utilization, the UAV flight management system 100 can typically dynamically set the same take-off or landing point as needed. For example, based on the strategic phase flight plans of all UAVs taking off and landing at the VTOL field in the next operational period (e.g., the following day), which have been reported and approved in advance (usually referred to as the strategic phase), as well as historical UAV take-off and landing traffic and airspace control information of the VTOL field, the system can determine the set of available take-off points and the set of available landing points for the current operational period from all normally usable UAV take-off and landing points at the VTOL field. Typically, the operating service provider will submit the UAV flight plan for the following day, i.e., the strategic phase flight plan for the UAVs, to the local UAV management service platform at least one day in advance, including the UAV's aircraft identification, model, mission nature, VTOL field for take-off and landing, and the scheduled airspace usage time. The local unmanned aerial vehicle (UAV) and management service platform will synchronize the approved strategic phase flight plans of UAVs to the UAV flight management system 100 of the relevant vertical take-off and landing (VTOL) field. The UAV flight management system 100 of the VTOL field receives the strategic phase flight plans of all UAVs taking off and landing at the VTOL field, and combines them with the historical take-off and landing traffic at various time periods during the operation period, as well as the safety margin, to set the corresponding number of available take-off points and available landing points among all available take-off and landing points, and determine the set of available take-off points and available landing points. The available take-off points and available landing points can be set to available / open status through the UAV flight management system 100.

[0055] Here, it is assumed that the time the drone occupies the takeoff point is... The time occupied at the landing point during landing is γ hours. Based on the strategic flight plan of all UAVs taking off and landing at the vertical takeoff and landing field, the number of takeoff and landing flights during the relevant time period during the operation can be determined. Combined with historical data, the number of backup takeoff and landing points can be determined, and thus the number of available takeoff points at the vertical takeoff and landing field can be determined as follows: The number of available landing points is: Where x is the number of drone takeoffs and / or landings per hour. and These refer to the number of reserved backup takeoff and landing points, respectively. If If the number of drones exceeds the total number of drones scheduled to take off and land at the vertical take-off and landing site received by the drone flight management system 100, the number of drones taking off and landing at the vertical take-off and landing site should be reduced accordingly to meet operational requirements while ensuring safety (from an operational perspective, as long as the number of drones planned to take off and land at the vertical take-off and landing site through the reporting and approval process during the strategic phase does not exceed...). In actual operation, the specific number of drones that can take off and land should be dynamically adjusted, provided that safety is ensured.

[0056] Continuing in this embodiment, in step S102, the UAV flight management system 100 can obtain the initial takeoff information of the UAV taking off from the vertical takeoff and landing field, and based on the initial takeoff information of the UAV, determine the takeoff point of the UAV from the set of available takeoff points, and determine the four-dimensional trajectory flight plan of the UAV during the takeoff phase. The initial takeoff information includes the UAV's predetermined takeoff time, predetermined departure point, and takeoff phase spatial constraint information.

[0057] The UAV flight management system 100 also receives initial flight plans from the operator for UAVs taking off and landing at the vertical take-off and landing field. This includes initial take-off information, which at least includes the UAV's scheduled take-off time, scheduled departure point, and spatial constraints during the take-off phase. Different UAVs vary significantly in size, aerodynamic layout, and braking methods, resulting in different spatial constraints to meet space safety requirements. The UAV flight management system 100 acquires the initial take-off information and, based on this information, selects an available take-off point from the set of available take-off points as the UAV's take-off point. It then determines the four-dimensional flight path plan for the take-off phase, from the take-off point to the scheduled departure point from the vertical take-off and landing field airspace.

[0058] In this process, the service provider submits the initial flight plan of the drone to the drone flight management system 100 before takeoff (usually referred to as the pre-tactical phase). The strategic phase flight plan submitted earlier contains relatively little information, while the initial flight plan includes more detailed information, such as: the scheduled takeoff time, the scheduled departure point, and takeoff phase spatial constraints to define the safety protection space. It may also include: vertical speed range, acceleration range, etc. Based on the initial takeoff information in the initial flight plan, the drone flight management system 100 can allocate a suitable takeoff point from the set of available takeoff points.

[0059] The UAV flies according to a predetermined four-dimensional trajectory flight plan. The four-dimensional trajectory can typically be divided into a takeoff phase, a flight phase, and a landing phase. The flight phase four-dimensional trajectory flight plan is usually formulated by the operating service provider, while the takeoff and landing phase four-dimensional trajectory flight plans are typically formulated by the UAV flight management system 100 of the vertical takeoff and landing field. The UAV's four-dimensional trajectory flight plan can generally be represented as a set of three-dimensional coordinates of track points and the times when they pass through the track points, starting from the takeoff point and at time intervals of Δ time. An example is shown below:

[0060]

[0061] Where K is the total number of all waypoints included in the UAV's four-dimensional track.

[0062] Considering the need for a certain safety space during drone flight, a protective space should be provided to ensure a minimum safe interval during drone flight. Spatial constraints during the takeoff phase can be clearly defined in the initial flight information, thus specifying the safe protective space for the drone during takeoff. The spatial constraints of the drone can be represented by using marked track points in a four-dimensional trajectory as reference points, extending a certain distance into three-dimensional space, as follows:

[0063]

[0064] Where i represents the state of the UAV when marking waypoints (e.g., ascending, descending, flying horizontally, hovering, performing a task, etc.). It represents the distance extended in the positive direction that is horizontal to the direction of travel and perpendicular to the direction of travel. Indicates the distance extended backward in the direction of travel. This represents the distance extended upwards in a plane perpendicular to the direction of operation. The UAV flight management system 100 assigns takeoff points to UAVs taking off from the vertical takeoff and landing field and determines the predetermined takeoff time window for the takeoff phase that meets the spatial constraint information of the UAV.

[0065] Continuing in this embodiment, in step S103, the UAV flight management system 100 can control the UAV to fly from the takeoff point to the corresponding predetermined departure point based on the four-dimensional trajectory flight plan of the takeoff phase.

[0066] According to the agreement with the drone operator, the drone flight management system 100 can directly control the drone to fly from the takeoff point to the predetermined departure point based on the determined four-dimensional flight plan for the takeoff phase. Alternatively, the drone flight management system 100 can push the determined four-dimensional flight plan for the takeoff phase to the drone operator, who can then integrate it into the drone's full-range four-dimensional flight plan. Based on the full-range four-dimensional flight plan, the drone operator can control the drone to fly from the takeoff point to the predetermined departure point and the subsequent flight path.

[0067] Optionally, wherein all UAV take-off and landing points of the vertical take-off and landing field are arranged in a regular ring, and in step S101, controlling the UAV to fly from the take-off point to the corresponding predetermined departure point includes:

[0068] The UAV is controlled to fly vertically from the takeoff point to the corresponding takeoff reference point located in the takeoff transition zone, and then fly horizontally from the takeoff reference point to the takeoff transition point corresponding to the predetermined departure point in a preset direction, and then fly horizontally from the takeoff transition point to the predetermined departure point. The takeoff transition zone is a circular airspace located at a first preset vertical height and parallel to the ground. The projection of its outer edge on the ground coincides with the ring formed by the regular layout of the UAV takeoff and landing points. The takeoff reference point and the takeoff transition point are located at the outer edge of the takeoff transition zone. The predetermined departure point is a circular airspace located at the same vertical height as the takeoff transition zone and whose radius satisfies a first preset threshold compared to the radius of the takeoff transition zone.

[0069] To improve ground operational efficiency, all UAV takeoff and landing points in the vertical takeoff and landing field can be regularly arranged in a single or multiple ring pattern. The UAV flight management system 100 of the vertical takeoff and landing field can determine, as needed, which UAV takeoff points and which landing points are designated as available takeoff points and which are designated as available landing points from all UAV takeoff and landing points in the vertical takeoff and landing field. Example available takeoff and landing point settings are as follows: Figure 2 , Figure 3 As shown.

[0070] Based on safety and operational efficiency, a takeoff transition zone is set up in the vertical takeoff and landing field. This takeoff transition zone is a circular airspace located at a first preset vertical height and parallel to the ground. The projection of its outer edge onto the ground coincides with a ring formed by the regularly arranged takeoff and landing points of the UAVs. The takeoff reference point and the takeoff transition point are located at the outer edge of the takeoff transition zone. The predetermined departure point is located at the outer edge of a circular airspace at the same vertical height as the takeoff transition zone, and its radius, compared to the radius of the takeoff transition zone, satisfies a first preset threshold. An example is... Figure 4 As shown, at a vertical distance from the reference ground of the vertical takeoff and landing field. Define a radius at point A horizontal circular airspace serves as the takeoff transition area. The projection of the outer edge of the takeoff transition area onto the ground forms a ring with the UAV takeoff points arranged in a regular pattern (with the center of the vertical takeoff and landing field as the center and the horizontal radius as...). To optimize the flight path design during takeoff, the point perpendicular to the takeoff point on the outer edge of the takeoff transition area can be designated as the takeoff reference point. The point where the extended line connecting this point and the predetermined departure point passes through the center (center) of the takeoff transition area can be designated as the takeoff transition point. The predetermined departure point of the UAV is then set at a point concentric with the takeoff transition area and with a radius of [missing information]. The outer edge of the circular airspace (i.e., on the circle), where Greater than Furthermore, the difference between the two should not be less than a first preset threshold, for example, It can be set to 150 meters. It can be set to 300 meters. It can be set to 150 meters, and the first preset threshold can be set to 150 meters.

[0071] The UAV flight management system 100 controls the UAV to fly vertically from the takeoff point to the corresponding takeoff reference point located on the outer edge of the circular takeoff transition area. Then, it switches to a different flight mode and flies horizontally from the takeoff reference point in a preset direction (e.g., clockwise) to the corresponding takeoff transition point. Finally, it flies horizontally from the takeoff transition point to the corresponding predetermined departure point. This minimizes the flight distance during the UAV takeoff phase while balancing safety and operational efficiency.

[0072] Optionally, in step S102, determining the takeoff point of the UAV from the set of available takeoff points based on the initial takeoff information of the UAV includes:

[0073] Based on the scheduled takeoff time of the UAV, determine the scheduled takeoff time window of the UAV;

[0074] From the set of available takeoff points, determine several available takeoff points that meet the predetermined takeoff time window of the UAV, and sort them in ascending order of distance from the predetermined departure point of the UAV.

[0075] The system sequentially checks whether the corresponding four-dimensional flight plan for each takeoff phase meets the preset no-conflict constraint for the takeoff phase, and determines the first available takeoff point that meets the constraint as the takeoff point of the UAV.

[0076] The UAV flight management system 100 can determine the UAV's scheduled takeoff time window by acquiring the scheduled takeoff time, scheduled departure point, and spatial constraint information from the UAV's initial takeoff information. Then, it can determine several available takeoff points that meet the scheduled takeoff time window from the set of available takeoff points, sort them in ascending order according to their distance from the UAV's scheduled departure point, and select available takeoff points one by one in sequence. It can then determine whether the four-dimensional flight plan of the takeoff phase from the available takeoff point to the scheduled departure point meets the preset takeoff phase no-conflict constraint conditions with the UAV's takeoff phase spatial constraint information, and determine the first available takeoff point that meets the conditions as the UAV's takeoff point.

[0077] For example, the scheduled takeoff time of a UAV U taking off from a vertical takeoff and landing field is... The coordinates of the predetermined departure point are: It can determine the scheduled departure time window ( ),in, relative to the scheduled departure time The amount of time that can be allocated for the drone to take off earlier or later. This can be selected from the set of available takeoff points determined in step S101 within the predetermined takeoff time window. ( ) Several available takeoff points are available within the area, and then the takeoff point is determined based on the relationship between each available takeoff point and the drone's predetermined departure point. The distances are sorted from smallest to largest, and then available takeoff points are selected one by one in sequence. It is then determined whether the takeoff point falls within the scheduled takeoff time window. In the case of takeoff, does the four-dimensional trajectory of the takeoff phase to the predetermined departure point meet the preset conflict-free constraints for the takeoff phase, i.e., are there available spatiotemporal resources, and will the takeoff phase overlap with the space occupied by UAVs in other takeoff phases? Takeoff times that meet the following conditions can be selected first. ,

[0078]

[0079] Where Δ is the waypoint update time interval, which is the shortest adjustable time interval, such as 1 second, and is also the interval of the waypoint timestamp. p is the number of adjustable time intervals. It determines whether the four-dimensional track from the available takeoff point to the predetermined departure point meets the preset conflict-free takeoff phase constraint condition, that is, whether there is any spatiotemporal conflict with other UAVs taking off or landing at the vertical takeoff and landing field. First, in terms of time, it is determined that the UAV is at time... From available takeoff points ( Take off and arrive at the designated departure point. The moment It can be obtained from the following formula.

[0080]

[0081] in, This refers to the speed at which the drone flies horizontally within the vertical takeoff and landing field. This refers to the speed at which the drone flies vertically within the vertical take-off and landing field. Let w be the distance traveled in the horizontal direction. Assuming there is another drone w, whose spacetime occupancy from its takeoff point to its predetermined departure point, including safety constraints during takeoff (i.e., the safety protection space), can be expressed as:

[0082]

[0083] Starting from the takeoff time of drone w, determine whether drone u and drone w satisfy the following time conditions:

[0084]

[0085] That is, the takeoff time of the drone. Earlier than the takeoff time of drone w and the time of takeoff of the drone u Later than the takeoff time of drone w If this condition is not met, it indicates that the four-dimensional flight plans of UAV u and UAV w during their takeoff phases do not conflict in time. Therefore, UAV w will not affect the four-dimensional flight plan of UAV u during its takeoff phase. Since no other UAVs affect the four-dimensional flight plan of UAV u during its takeoff phase in time, it is not necessary to determine whether there is a spatial conflict; the available takeoff point can be directly determined as the takeoff point of UAV u. If this condition is met, then there is a temporal conflict between the two, and the conflict time is […]. , In terms of space, it is necessary to determine whether there is at least some point at which the safety protection spaces of the takeoff phase track points of the two overlap, i.e.

[0086] , making

[0087]

[0088] If such a conflict exists, it indicates that drone u and drone w have a spatial conflict. Therefore, the available takeoff point should be excluded, and the next available takeoff point should be selected for reassessment.

[0089] During the process of sequentially selecting available takeoff points for judgment, once the four-dimensional trajectory flight plan of an available takeoff point meets the preset conflict-free constraint condition for the takeoff phase, this available takeoff point can be used as the takeoff point of the UAV u, and then the four-dimensional trajectory flight plan for the takeoff phase of the UAV u can be determined. If the takeoff time is slightly adjusted within the predetermined takeoff time window, the UAV flight management system 100 determines the four-dimensional trajectory flight plan for the takeoff phase of the UAV u based on the slightly adjusted takeoff time and the determined takeoff point.

[0090] The UAV flight management system 100 can also send the takeoff point and takeoff phase four-dimensional trajectory flight plan to the operator service provider. The operator service provider can update the UAV's full-range four-dimensional trajectory flight plan according to the UAV's takeoff phase four-dimensional trajectory flight plan.

[0091] The drones providing low-altitude traffic services fly according to the full-range four-dimensional flight path plan, and enter the landing phase upon reaching the vertical landing field.

[0092] Optionally, the method for flight management of unmanned aerial vehicles (UAVs) at vertical take-off and landing sites further includes:

[0093] S104 Acquires the initial landing information of the UAV landing at the vertical take-off and landing field, wherein the initial landing information includes the UAV's predetermined entry time, predetermined entry point, and spatial constraint information during the landing phase.

[0094] Based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field, S105 determines the predetermined landing point of the UAV from the set of available landing points and determines the four-dimensional trajectory flight plan of the UAV during the landing phase.

[0095] S106 When the UAV flies to the vertical take-off and landing field, obtain the current speed and spatial position of the UAV, and determine the entry time of the UAV based on the current speed and spatial position;

[0096] S107 If the arrival time of the UAV is different from the predetermined arrival time, the four-dimensional trajectory flight plan and landing point of the landing phase are adjusted, and based on the adjusted four-dimensional trajectory flight plan of the landing phase, the UAV is controlled to fly from the predetermined arrival point to the adjusted landing point.

[0097] In this optional embodiment, in step S104, the initial landing information of the UAV to land at the vertical take-off and landing field is obtained, wherein the initial landing information includes the UAV's predetermined entry time, predetermined entry point and landing phase spatial constraint information.

[0098] The UAV flight management system 100 receives the initial flight plan of the UAV to take off and land at the vertical take-off and landing field from the operator, including the initial landing information, which includes the UAV's scheduled entry time, scheduled entry point and spatial constraint information during the landing phase.

[0099] Continuing in this optional embodiment, in step S105, based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field, the predetermined landing point of the UAV is determined from the set of available landing points, and the four-dimensional trajectory flight plan of the UAV during the landing phase is determined.

[0100] The UAV flight management system 100 determines the UAV's landing point from the currently available landing points in the previous set of available landing points based on the UAV's initial landing information and real-time monitoring information of the vertical take-off and landing field (e.g., if the available landing points in the previously determined set of available landing points cannot be used or are occupied for some reason). Based on the scheduled entry time, the scheduled entry point, and the landing point, the system determines the UAV's four-dimensional trajectory flight plan for the landing phase based on the scheduled entry time.

[0101] Continuing in this optional embodiment, in step S106, when the UAV flies to the vertical take-off and landing field, the current speed and spatial position of the UAV are obtained, and the entry time of the UAV is determined based on the current speed and spatial position.

[0102] The UAV flight management system 100 can simultaneously receive real-time airspace monitoring information provided by the vertical take-off and landing (VTOL) airspace real-time monitoring system. When the UAV is determined to be approaching the VTOL via the real-time airspace monitoring information—for example, when the UAV approaches the monitored airspace of the VTOL—the UAV flight management system 100 can obtain the UAV's current speed and spatial position from the UAV's dynamic flight data provided by the UAV's operator, based on the received real-time airspace monitoring information. Based on the UAV's current speed and spatial position, the system can determine the UAV's arrival time at the predetermined entry point. For example, the VTOL monitored airspace can be set as a spatial area with a horizontal radius of 300 meters and a vertical height of 300 meters, centered on the center of the VTOL. Alternatively, the VTOL monitored airspace can be set according to the specific types of UAVs served by the VTOL, the spatial constraints during take-off and landing, and other practical application scenario requirements. When a UAV approaches the monitored airspace of the VTOL, the UAV flight management system 100 can determine the entry time based on the UAV's real-time information.

[0103] In this optional embodiment, in step S107, if the arrival time of the UAV is different from the predetermined arrival time, the four-dimensional trajectory flight plan and landing point of the landing phase are adjusted, and based on the adjusted four-dimensional trajectory flight plan of the landing phase, the UAV is controlled to fly from the predetermined arrival point to the adjusted landing point.

[0104] The UAV flight management system 100 compares the actual arrival time of the UAV at the predetermined entry point with the predetermined entry time in the initial landing information. If the two differ, and the UAV still follows the spatial trajectory in the landing phase four-dimensional trajectory flight plan based on the predetermined entry time determined in step S105, it may conflict with the landing phase four-dimensional trajectory of other UAVs, posing a safety hazard. Therefore, it is necessary to adjust the landing phase four-dimensional trajectory flight plan and the landing point. Then, based on the adjusted landing phase four-dimensional trajectory flight plan based on the actual entry time, the system controls the UAV to fly from the predetermined entry point to the adjusted landing point, or pushes the adjusted landing phase four-dimensional trajectory flight plan to the UAV operator, who then controls the UAV to fly from the predetermined entry point to the adjusted landing point according to the adjusted landing phase four-dimensional trajectory flight plan.

[0105] Optionally, all UAV take-off and landing points in the vertical take-off and landing field are arranged in a regular ring, characterized in that controlling the UAV to fly from the predetermined entry point to the adjusted landing point includes:

[0106] The UAV is controlled to fly horizontally from the entry point to the corresponding landing transition point located in the landing transition zone, and then fly horizontally from the landing transition point to the landing reference point corresponding to the adjusted landing point in a preset direction, and then land vertically from the landing reference point to the adjusted landing point. The landing transition zone is a circular airspace located at a second preset vertical height and parallel to the ground. The projection of its outer edge on the ground coincides with the ring formed by the regular layout of the UAV take-off and landing points. The landing transition point and the landing reference point are located at the outer edge of the landing transition zone. The predetermined entry point is a circular airspace located at the same vertical height as the landing transition zone and whose radius satisfies a second preset threshold compared to the radius of the landing transition zone.

[0107] Based on safety and operational efficiency, a landing transition zone is set up in the vertical take-off and landing field. This landing transition zone is a circular airspace located at a second preset vertical height and parallel to the ground. The projection of its outer edge onto the ground coincides with a ring formed by the regularly arranged take-off and landing points of the UAVs. The predetermined entry point is located at the same vertical height as the landing transition zone, and its radius, compared to the radius of the landing transition zone, satisfies a second preset threshold on the outer edge of the circular airspace. The landing transition point, the predetermined entry point, and the center of the circle are collinear. Both the reference point and the landing transition point are located on the outer edge of the circular landing transition zone. An example is... Figure 5 As shown, at a vertical distance from the reference ground of the vertical takeoff and landing field. Define a radius at point A horizontal circular airspace serves as the landing transition zone. The projection of the outer edge of the landing transition zone onto the ground and the UAV landing points are regularly arranged in a ring (with the center of the vertical take-off and landing field as the center and the horizontal radius as...). To optimize the landing trajectory design during the landing transition phase, the landing transition point is defined as the point on the outer edge of the landing transition area where the extended line connecting the intended entry point passes through the center (center) of the landing transition area. The point perpendicularly corresponding to the landing point is defined as the landing reference point. The intended entry point of the UAV is then set at a point concentric with the landing transition area and with a radius of [missing information]. The outer edge of the circular airspace (i.e., on the circle), where Greater than Furthermore, the difference between the two should not be less than the second preset threshold, for example, It can be set to 100 meters. It can be set to 300 meters. The first preset threshold can be set to 100 meters, and the second preset threshold can be set to 200 meters.

[0108] The UAV flight management system 100 controls the UAV to fly horizontally from a predetermined entry point to the corresponding landing transition point located in the landing transition area, and then flies horizontally from the landing transition point in a preset direction (e.g., counterclockwise) to a reference point that is perpendicular to the adjusted landing point, and finally lands vertically from the reference point at the adjusted landing point. This minimizes the flight distance of the UAV during the landing phase while balancing safety and operational efficiency.

[0109] Optionally, in step S105, determining the predetermined landing point of the UAV from the set of available landing points based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field includes:

[0110] Based on the scheduled arrival time of the drone, determine the scheduled arrival time window of the drone;

[0111] Based on the real-time monitoring information of the vertical take-off and landing field, several available landing points that meet the predetermined entry time window of the UAV are determined from the set of available landing points. The landing points are sorted in ascending order according to their horizontal distance from the predetermined entry point of the UAV. The corresponding landing phase four-dimensional trajectory flight plan is judged one by one in sequence to see if it meets the preset landing phase no-conflict constraint condition. The first available landing point that meets the condition is determined as the predetermined landing point of the UAV.

[0112] The UAV flight management system 100 can determine the scheduled arrival time window for the UAV based on the scheduled arrival time in the initial landing information of the UAV. Then, based on real-time monitoring information of the vertical landing field, such as situations where one or more available landing points in the previously determined set of available landing points are unavailable or occupied, it determines several available landing points within the scheduled arrival time window from the set of available landing points determined in step S101. These landing points are then sorted in ascending order of their horizontal distance from the UAV's scheduled arrival point, and each landing point is sequentially checked to see if its corresponding four-dimensional trajectory flight plan for the landing phase meets the preset no-conflict constraint conditions for the landing phase. The first available landing point that meets these conditions is determined as the UAV's scheduled landing point. For example, the scheduled arrival time in the initial landing information provided by the UAV's operator service provider... Pre-booked entry point and spatial constraint information during the descent phase ,in, It represents the distance extended in the positive direction that is horizontal to the direction of travel and perpendicular to the direction of travel. Indicates the distance extended backward in the direction of travel. It represents the distance extended upwards in a plane perpendicular to the direction of travel.

[0113] Considering the actual conditions of vertical takeoff and landing (VTOL) fields, where monitoring accuracy is higher and management is more precise, the safety protection space for the landing phase of a UAV is typically smaller than that for other flight segments. This can be determined based on the scheduled arrival time. Confirm your scheduled entry time window ,in, relative to the scheduled entry time The amount of time that can be allocated for the UAV to arrive earlier or later. Then, based on real-time monitoring information of the vertical landing field, the available landing points determined in step S101 are selected for the predetermined arrival time window. Several available landing points are identified within the area, and then the landing point is determined based on the drone's predetermined entry point. The horizontal distances are sorted from smallest to largest, and then available landing points are selected one by one in sequence to determine if they fall within the scheduled takeoff time window. If the drone enters from a predetermined entry point, does its four-dimensional trajectory during the landing phase satisfy the preset conflict-free landing phase constraints, i.e., are there available spatiotemporal resources, and will the landing phase overlap with the space occupied by other drones during their landing phases? Assume drone w, which includes landing phase safety constraint information, i.e., the safety protection space, at the predetermined entry time... The time and space occupancy from the predetermined entry point to its landing point can be expressed as:

[0114]

[0115] If there is no time conflict between UAV u and UAV w during the landing phase, UAV w will not affect the four-dimensional trajectory of UAV u during the landing phase. If no other UAV affects the four-dimensional trajectory of UAV u during the landing phase in terms of time, then the available landing point can be determined as the predetermined landing point for UAV u. If a time conflict exists, the conflict event is defined as the conflict time interval […]. , )],in, To determine the landing time at an available landing point, it is further determined spatially whether there is at least some moment when the safety protection spaces of the two landing phase track points overlap.

[0116] , making

[0117]

[0118] If such a conflict exists, it indicates that drone u and drone w have a spatial conflict. Therefore, the available landing point should be excluded, and the next available landing point should be selected for reassessment.

[0119] During the process of sequentially selecting available landing points for judgment, once the four-dimensional trajectory flight plan of a certain available landing point meets the preset conflict-free constraint condition for the landing phase, this available landing point can be used as the predetermined landing point of the UAV u, and then the four-dimensional trajectory flight plan of the UAV u based on the predetermined landing point for the landing phase can be determined.

[0120] Optionally, in step S107, if the arrival time of the UAV differs from the predetermined arrival time, adjusting the four-dimensional trajectory flight plan and landing point during the landing phase includes:

[0121] If the arrival time of the drone is different from the predetermined arrival time, the landing time at the predetermined landing point is calculated based on the obtained arrival speed of the drone, the arrival time of the drone and the predetermined arrival point, and the landing time window of the drone is determined.

[0122] If the UAV's four-dimensional trajectory flight plan for the landing phase from the entry point to the predetermined landing point does not meet the preset no-conflict constraint condition for the landing phase, then several available landing points within the landing time window are determined from the set of available landing points. These landing points are sorted in ascending order of their horizontal distance from the UAV's predetermined entry point, and each landing point is sequentially checked to determine whether its corresponding four-dimensional trajectory flight plan for the landing phase meets the preset no-conflict constraint condition for the landing phase. The first available landing point that meets the condition is determined as the UAV's adjusted landing point, and its corresponding four-dimensional trajectory flight plan for the landing phase is used as the adjusted four-dimensional trajectory flight plan for the landing phase.

[0123] The UAV flight management system 100 determines the UAV's arrival time based on its current speed and spatial position. If the arrival time of the UAV differs from the predetermined arrival time in the initial landing information, the system can calculate the landing time at the predetermined landing point based on the predetermined arrival point, the actual arrival speed at the predetermined arrival point, and the arrival time. If the UAV's flight speed during the landing phase differs from the arrival speed, the system can also combine the flight speed set for the landing phase to determine the landing time at the predetermined landing point and determine a four-dimensional trajectory flight plan for the landing phase based on the actual arrival time and the predetermined landing point. If the four-dimensional trajectory flight plan for the landing phase does not meet the preset conflict-free landing phase constraint, then the landing time window for the UAV is determined. Several available landing points within this landing time window are selected from the set of available landing points determined in step S101. These landing points are then sorted in ascending order of their horizontal distance from the UAV's predetermined entry point. Each landing point is then sequentially evaluated to determine if its corresponding four-dimensional trajectory flight plan for the landing phase meets the preset conflict-free landing phase constraint. The first available landing point that meets the constraint is designated as the adjusted landing point for the UAV, and its corresponding four-dimensional trajectory flight plan is used as the adjusted landing phase four-dimensional trajectory flight plan. For example, if the actual entry time is... According to the actual entry time The calculated landing time is This allows for the determination of the landing time window. Next, the available landing points determined in step S101 are selected for the landing time window. Several available landing points are selected and sorted in ascending order of their horizontal distance from the predetermined entry point of the UAV. The landing phase four-dimensional trajectory flight plan of each UAV is judged in sequence to determine whether it meets the preset landing phase conflict-free constraint condition. The first available landing point that meets the condition is determined as the adjusted landing point of the UAV, and then the landing phase four-dimensional trajectory flight plan of the UAV based on the adjusted landing point is determined.

[0124] According to the agreement with the drone operator, the drone flight management system 100 can directly control the drone to fly from the predetermined entry point to the adjusted landing point based on the four-dimensional trajectory flight plan of the landing phase adjusted based on the actual entry time. Alternatively, the drone flight management system 100 can push the four-dimensional trajectory flight plan of the landing phase adjusted based on the actual entry time to the drone operator, who can then integrate it into the drone's full-range four-dimensional trajectory flight plan and control the drone to fly from the predetermined entry point to the adjusted landing point according to the full-range four-dimensional trajectory flight plan.

[0125] Through the above embodiments and / or optional embodiments, safe, fair and efficient flight management can be provided for the take-off and landing flights of drones from different low-altitude business operators within the vertical take-off and landing field, which can better serve the low-altitude economy and has good market value.

[0126] Figure 6 The diagram illustrates a system for flight management of unmanned aerial vehicles (UAVs) at vertical takeoff and landing sites, according to another aspect of this application, wherein, in one embodiment, the system includes:

[0127] The ground resource allocation subsystem 610 is used to determine the set of available take-off points and the set of available landing points from all UAV take-off and landing points in the vertical take-off and landing field.

[0128] The takeoff scheduling and management subsystem 620 is used to acquire the initial takeoff information of the UAV taking off from the vertical takeoff and landing field, and based on the initial takeoff information of the UAV, determine the takeoff point of the UAV from the set of available takeoff points, determine the four-dimensional trajectory flight plan of the UAV during the takeoff phase, and control the UAV to fly from the takeoff point to the corresponding predetermined departure point based on the four-dimensional trajectory flight plan during the takeoff phase. The initial takeoff information includes the predetermined takeoff time, predetermined departure point and takeoff phase spatial constraint information of the UAV.

[0129] The drone flight management system in this embodiment has the same hardware and software environment as the drone flight management system 100 in the aforementioned method embodiments and / or optional embodiments.

[0130] In this embodiment, the UAV flight management system 100 can, through the ground resource allocation subsystem 610, determine the set of available takeoff points and the set of available landing points for the current operation period from all normally usable UAV takeoff and landing points at the vertical takeoff and landing field, based on the strategic phase flight plans of all UAVs that have been reported and approved in advance and the historical UAV takeoff and landing traffic and airspace control information of the vertical takeoff and landing field. Typically, the operating service provider will submit the UAV flight plan for the next day, i.e., the strategic phase flight plan of the UAVs, to the local UAV management service platform at least one day in advance, including the UAV's aircraft identification, model, mission nature, vertical takeoff and landing field, and scheduled airspace usage time. The local unmanned aerial vehicle (UAV) and management service platform will synchronize the approved strategic phase flight plans of UAVs to the ground resource allocation subsystem 610 of the UAV flight management system 100 at the relevant vertical take-off and landing site. The ground resource allocation subsystem 610 of the UAV flight management system 100 receives the strategic phase flight plans of all UAVs taking off and landing at this vertical take-off and landing site, and combines them with the historical take-off and landing traffic at various time periods during the operation period, as well as the safety margin, to set the corresponding number of available take-off points and available landing points among all available take-off and landing points, determine the set of available take-off points and available landing points, and set the available take-off points and available landing points to the available / open state.

[0131] Continuing in this embodiment, the UAV flight management system 100 can obtain the initial takeoff information of the UAV taking off from the vertical takeoff and landing field through the takeoff scheduling management subsystem 620, and determine the takeoff point of the UAV from the set of available takeoff points based on the initial takeoff information of the UAV, as well as determine the four-dimensional trajectory flight plan of the UAV during the takeoff phase, and control the UAV to fly from the takeoff point to the corresponding predetermined departure point based on the four-dimensional trajectory flight plan during the takeoff phase. The initial takeoff information includes the predetermined takeoff time, predetermined departure point and takeoff phase spatial constraint information of the UAV.

[0132] The UAV flight management system 100 receives initial flight plans from the operator for UAVs taking off and landing at the vertical takeoff and landing field via its takeoff scheduling management subsystem 620. This initial takeoff information includes at least the UAV's scheduled takeoff time, scheduled departure point, and spatial constraint information for the takeoff phase. Different UAVs vary significantly in size, aerodynamic layout, and braking methods, resulting in different spatial constraint information to meet space safety requirements. Based on the UAV's initial takeoff information, an available takeoff point is selected from the set of available takeoff points as the UAV's takeoff point, and the takeoff time is determined. The takeoff phase consists of a four-dimensional flight plan, which involves taking off from a designated takeoff point and flying out of the vertical takeoff and landing field airspace via a predetermined departure point. Then, based on this four-dimensional flight plan, the drone can be directly controlled to fly from the takeoff point to its predetermined departure point. Alternatively, the takeoff scheduling and management subsystem 620 can push the determined four-dimensional flight plan to the drone operator, who will then integrate it into the drone's full-range four-dimensional flight plan. Based on this full-range four-dimensional flight plan, the drone can be controlled to fly from the takeoff point to its predetermined departure point, and continue its flight for the remainder of the journey.

[0133] Optionally, the flight management system for a vertical take-off and landing field UAV further includes:

[0134] The landing scheduling and management subsystem 630 is used to acquire the initial landing information of a UAV landing at a vertical take-off and landing field, and determine the predetermined landing point of the UAV from the set of available landing points based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field, and determine the four-dimensional trajectory flight plan of the UAV during the landing phase. When the UAV flies to the vertical take-off and landing field, the subsystem acquires the current speed and spatial position of the UAV, and determines the arrival time of the UAV based on the current speed and spatial position. If it is different from the predetermined arrival time, the subsystem adjusts the four-dimensional trajectory flight plan and landing point during the landing phase, and controls the UAV to fly from the predetermined arrival point to the adjusted landing point based on the adjusted four-dimensional trajectory flight plan during the landing phase. The initial landing information includes the predetermined arrival time, predetermined arrival point and spatial constraint information of the UAV during the landing phase.

[0135] In this optional embodiment, the UAV flight management system 100 can receive the initial flight plan of the UAV to take off and land at the vertical take-off and landing field from the operator service provider through the landing scheduling management subsystem 630. This initial landing plan includes initial landing information, such as the UAV's scheduled arrival time, scheduled arrival point, and spatial constraint information for the landing phase. Based on the UAV's initial landing information and the real-time monitoring information of the vertical take-off and landing field, the system determines the UAV's scheduled landing point and the UAV's four-dimensional trajectory flight plan for landing at the scheduled landing point based on the scheduled arrival time from the set of available landing points determined by the ground resource allocation subsystem 610. Simultaneously, it receives real-time airspace information from the vertical take-off and landing field. The monitoring system provides real-time airspace monitoring information. When it is determined that a UAV is approaching a vertical take-off and landing field through real-time airspace monitoring information, it obtains the current speed and spatial position of the UAV from the UAV's dynamic flight data provided by the UAV's operator. Based on the current speed and spatial position of the UAV, it determines the arrival time of the UAV at the predetermined arrival point. It compares the actual arrival time of the UAV at the predetermined arrival point with the predetermined arrival time in the initial landing information. If the two are different, it adjusts the four-dimensional trajectory flight plan and landing point for the landing phase. Then, based on the adjusted four-dimensional trajectory flight plan for the landing phase based on the actual arrival time, it controls the UAV to fly from the predetermined arrival point to the adjusted landing point.

[0136] The UAV flight management system 100 can also push the adjusted landing phase four-dimensional trajectory flight plan to the UAV operator through the landing scheduling management subsystem 630, so that the operator can control the UAV to fly from the predetermined entry point to the adjusted landing point according to the adjusted landing phase four-dimensional trajectory flight plan.

[0137] In this embodiment, the functions and / or method steps that can be achieved by the various components of the system are the same as those in the foregoing related method embodiments, and will not be repeated here.

[0138] According to another aspect of this application, a computer-readable medium is also provided, the computer-readable medium storing computer-readable instructions that can be executed by a processor to implement some or all of the foregoing method embodiments and / or optional embodiments.

[0139] It should be noted that the method embodiments and / or optional embodiments in this application do not strictly limit the order of execution of each step, as long as the method embodiments and / or optional embodiments can solve the defects existing in the prior art, achieve the inventive purpose of this application, and obtain beneficial effects. The method embodiments and / or optional embodiments in this application can be implemented in software and / or combinations of software and hardware. The software program involved in this application can be executed by a processor to implement the steps or functions of the above embodiments. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium.

[0140] Furthermore, part or all of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. The program instructions invoking the methods of this application may be stored in a fixed or removable recording medium, and / or transmitted via data streams in broadcast or other signal carrying media, and / or stored in the working memory of a computer device operating according to the program instructions.

[0141] According to another aspect of this application, an apparatus for flight management of unmanned aerial vehicles (UAVs) at vertical take-off and landing sites is also provided. The apparatus includes: a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the apparatus is triggered to run part or all of the methods and / or technical solutions of the foregoing embodiments.

[0142] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0143] In this application, when terms such as "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" are used, the indicated orientation and / or positional relationship is based on the orientation and / or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation. Furthermore, some of the above terms, in addition to indicating orientation or positional relationship, can also be used to indicate other meanings; for example, the term "upper" can also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0144] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection via an intermediate medium; and they can refer to an internal connection between two devices, components, or constituent parts. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0145] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, units, modules, elements, circuits, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance, order, and / or quantity of the indicated devices, units, modules, elements, circuits, or components. Unless otherwise stated, "a plurality of" means two or more.

[0146] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the device claims may also be implemented by a single unit or device through software and / or hardware.

Claims

1. A method for flight management of unmanned aerial vehicles (UAVs) in vertical take-off and landing (VTOL) environments, characterized in that, The method includes: Determine the set of available take-off points and the set of available landing points from all UAV take-off and landing points in the vertical take-off and landing field. The UAV take-off and landing points in the vertical take-off and landing field are arranged in a regular ring. Acquire the initial takeoff information of the UAV taking off from the vertical takeoff and landing field, and based on the initial takeoff information of the UAV, determine the takeoff point of the UAV from the set of available takeoff points, and determine the four-dimensional flight plan of the UAV during the takeoff phase, wherein the initial takeoff information includes the UAV's scheduled takeoff time, scheduled departure point and takeoff phase spatial constraint information. Based on the four-dimensional flight plan for the takeoff phase, the UAV is controlled to fly vertically from the takeoff point to the corresponding takeoff reference point located in the takeoff transition zone, and then fly horizontally from the takeoff reference point to the takeoff transition point corresponding to the predetermined departure point in a preset direction, and then fly horizontally from the takeoff transition point to the predetermined departure point. The takeoff transition zone is a circular airspace located at a first preset vertical height and parallel to the ground. The projection of its outer edge on the ground coincides with the ring formed by the regular layout of the UAV takeoff and landing points. The takeoff reference point and the takeoff transition point are located at the outer edge of the takeoff transition zone. The predetermined departure point is a circular airspace located at the same vertical height as the takeoff transition zone and whose radius satisfies a first preset threshold compared to the radius of the takeoff transition zone.

2. The method according to claim 1, characterized in that, The step of determining the takeoff point of the UAV from the set of available takeoff points based on the initial takeoff information of the UAV includes: Based on the scheduled takeoff time of the UAV, determine the scheduled takeoff time window of the UAV; From the set of available takeoff points, determine several available takeoff points that meet the predetermined takeoff time window of the UAV, and sort them in ascending order of distance from the predetermined departure point of the UAV. The system sequentially checks whether the corresponding four-dimensional flight plan for each takeoff phase meets the preset no-conflict constraint for the takeoff phase, and determines the first available takeoff point that meets the constraint as the takeoff point of the UAV.

3. The method according to claim 1, characterized in that, The method further includes: Acquire the initial landing information of a UAV landing at a vertical take-off and landing field, wherein the initial landing information includes the UAV's predetermined entry time, predetermined entry point, and spatial constraint information during the landing phase; Based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field, the predetermined landing point of the UAV is determined from the set of available landing points, and the four-dimensional trajectory flight plan of the UAV during the landing phase is determined. When the UAV flies to the vertical take-off and landing field, the current speed and spatial position of the UAV are obtained, and the entry time of the UAV is determined based on the current speed and spatial position. If the arrival time of the UAV is different from the predetermined arrival time, the four-dimensional trajectory flight plan and landing point of the landing phase are adjusted, and based on the adjusted four-dimensional trajectory flight plan of the landing phase, the UAV is controlled to fly from the predetermined arrival point to the adjusted landing point.

4. The method according to claim 3, characterized in that, The step of determining the predetermined landing point of the UAV from the set of available landing points based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field includes: Based on the scheduled arrival time of the drone, determine the scheduled arrival time window of the drone; Based on the real-time monitoring information of the vertical take-off and landing field, several available landing points that meet the predetermined entry time window of the UAV are determined from the set of available landing points. The landing points are sorted in ascending order according to their horizontal distance from the predetermined entry point of the UAV. The corresponding landing phase four-dimensional trajectory flight plan is judged one by one in sequence to see if it meets the preset landing phase no-conflict constraint condition. The first available landing point that meets the condition is determined as the predetermined landing point of the UAV.

5. The method according to claim 3, characterized in that, If the arrival time of the UAV differs from the predetermined arrival time, the four-dimensional flight plan and landing point during the landing phase will be adjusted, including: If the arrival time of the drone is different from the predetermined arrival time, the landing time at the predetermined landing point is calculated based on the obtained arrival speed of the drone, the arrival time of the drone and the predetermined arrival point, and the landing time window of the drone is determined. If the UAV's four-dimensional trajectory flight plan for the landing phase from the entry point to the predetermined landing point does not meet the preset no-conflict constraint condition for the landing phase, then several available landing points within the landing time window are determined from the set of available landing points. These landing points are sorted in ascending order of their horizontal distance from the UAV's predetermined entry point, and each landing point is sequentially checked to determine whether its corresponding four-dimensional trajectory flight plan for the landing phase meets the preset no-conflict constraint condition for the landing phase. The first available landing point that meets the condition is determined as the UAV's adjusted landing point, and its corresponding four-dimensional trajectory flight plan for the landing phase is used as the adjusted four-dimensional trajectory flight plan for the landing phase.

6. The method according to claim 3, wherein all UAV take-off and landing points of the vertical take-off and landing field are regularly arranged in a ring, characterized in that, Controlling the drone to fly from the predetermined entry point to the adjusted landing point includes: The UAV is controlled to fly horizontally from the entry point to the corresponding landing transition point located in the landing transition zone, and then fly horizontally from the landing transition point to the landing reference point corresponding to the adjusted landing point in a preset direction, and then land vertically from the landing reference point to the adjusted landing point. The landing transition zone is a circular airspace located at a second preset vertical height and parallel to the ground. The projection of its outer edge on the ground coincides with the ring formed by the regular layout of the UAV take-off and landing points. The landing transition point and the landing reference point are located at the outer edge of the landing transition zone. The predetermined entry point is a circular airspace located at the same vertical height as the landing transition zone and whose radius satisfies a second preset threshold compared to the radius of the landing transition zone.

7. A system for flight management of unmanned aerial vehicles (UAVs) at vertical takeoff and landing (VTOL) sites, characterized in that, The system includes: The ground resource allocation subsystem is used to determine the set of available take-off points and the set of available landing points from all UAV take-off and landing points in the vertical take-off and landing field. The UAV take-off and landing points in the vertical take-off and landing field are arranged in a regular ring. The takeoff scheduling and management subsystem is used to acquire the initial takeoff information of the UAV taking off from the vertical takeoff and landing field, and based on the initial takeoff information, determine the takeoff point of the UAV from the set of available takeoff points, determine the four-dimensional flight plan of the UAV during the takeoff phase, and based on the four-dimensional flight plan of the takeoff phase, control the UAV to fly vertically from the takeoff point to the corresponding takeoff reference point located in the takeoff transition zone, fly horizontally from the takeoff reference point to the takeoff transition point corresponding to the predetermined departure point in a preset direction, and fly horizontally from the takeoff transition point to the predetermined departure point. The takeoff transition zone is a circular airspace located at a first preset vertical height and parallel to the ground, with its outer edge projected onto the ground coinciding with a ring formed by the regular layout of the UAV takeoff and landing points. The takeoff reference point and the takeoff transition point are located at the outer edge of the takeoff transition zone. The predetermined departure point is a circular airspace located at the same vertical height as the takeoff transition zone and whose radius satisfies a first preset threshold compared to the radius of the takeoff transition zone. The initial takeoff information includes the predetermined takeoff time, predetermined departure point, and takeoff phase spatial constraint information of the UAV.

8. The system according to claim 7, characterized in that, The system also includes: The landing scheduling and management subsystem is used to acquire the initial landing information of a UAV landing at a vertical take-off and landing field, and determine the predetermined landing point of the UAV from the set of available landing points based on the initial landing information and the real-time monitoring information of the vertical take-off and landing field, and determine the four-dimensional trajectory flight plan of the UAV during the landing phase. When the UAV flies to the vertical take-off and landing field, the system acquires the current speed and spatial position of the UAV, and determines the arrival time of the UAV based on the current speed and spatial position. If it is different from the predetermined arrival time, the system adjusts the four-dimensional trajectory flight plan and landing point during the landing phase, and controls the UAV to fly from the predetermined arrival point to the adjusted landing point based on the adjusted four-dimensional trajectory flight plan during the landing phase. The initial landing information includes the predetermined arrival time, predetermined arrival point and spatial constraint information of the UAV during the landing phase.

9. A computer-readable medium, characterized in that, It stores computer-readable instructions that are executed by a processor to implement part or all of the method as claimed in any one of claims 1 to 6.

10. A device for flight management of unmanned aerial vehicles (UAVs) at vertical takeoff and landing (VTOL) sites, characterized in that, The device includes: One or more processors; and A memory storing computer-readable instructions, which, when executed, cause the processor to perform some or all of the operations of the method as described in any one of claims 1 to 6.

Images