Flight scheduling method of unmanned aerial vehicle based on space-time reservation mechanism

Abstract

The invention discloses a flight scheduling method of an unmanned aerial vehicle based on a space-time reservation mechanism. The flight scheduling method comprises the following steps: S1, route planning; s2, space-time division: dividing the route between the points A and B into a plurality of equal parts of a three-dimensional body according to a certain rule, and intuitively seeing an analog simulation graph of space-time division from a twin map; s3, flight route flight, wherein the multiple unmanned aerial vehicles fly from the starting point to the destination point at the same time; s4, space-time application: when one unmanned aerial vehicle enters one divided space-time region, applying to the platform for reserving the next space-time region; s5, reservation processing: after receiving the space-time reservation application, the platform synthesizes the airspace occupation conditions of all the unmanned aerial vehicles on the route in the system and gives a reply; and S6, the aircraft executes, and after the unmanned aerial vehicle receives a reply instruction of the platform, the unmanned aerial vehicle hovers to wait or reserves the airspace to enter. According to the invention, the route is switched into a plurality of logic spaces through an algorithm, so that the safety of multiple unmanned aerial vehicles flying at the same time on the same route is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to a UAV flight scheduling method, in particular to a UAV flight scheduling method based on a space-time reservation mechanism. BACKGROUND

[0002] With the rise of low-altitude economy, UAVs are playing an increasingly important role in various industries, and UAVs are being used more and more frequently. There are more and more UAVs flying in the air, and the possibility of multiple UAVs appearing on the same route is also increasing. UAVs cross fly, and the possibility of local routes overlapping in the same time period is also increasing. When this happens, it can cause serious safety accidents such as aircraft collisions, which can have a major impact on equipment, property, and ground safety.

[0003] In order to avoid multiple UAVs colliding on the same route, there are currently two main ways:

[0004] 1. Route locking, which prevents other UAVs from flying the same route before the entire route is completed.

[0005] 2. Human supervision, which monitors the flight trajectory and image transmission information of UAVs from a flight monitoring platform. When the human supervisor detects that the routes are crossing or overlapping, they manually take over and avoid collisions by manually controlling the UAV.

[0006] The existing methods have the following disadvantages:

[0007] If the entire route is locked, only one UAV can fly on a route that is tens of kilometers or even hundreds of kilometers long, which can cause a serious waste of airspace resources and have a significant impact on delivery efficiency in low-altitude logistics distribution scenarios.

[0008] If the human supervisor manually takes over control, it can affect efficiency and increase labor costs. Human supervision can also result in judgment errors, which can cause collisions, accidents, and property damage, and even affect personal safety. SUMMARY

[0009] To solve the problem of multiple UAVs colliding on the same route, the present application provides a UAV flight scheduling method based on a space-time reservation mechanism.

[0010] The present application provides the following technical solutions:

[0011] A UAV flight scheduling method based on a space-time reservation mechanism, comprising the following steps:

[0012] S1: flight planning, from the take-off and landing AB point, avoid the dense traffic complex area, plan a suitable flight route;

[0013] S2: space-time division, according to certain rules, the route between AB points is divided into several equal parts, and the simulation diagram of space-time division can be directly observed from the twin map;

[0014] S3: flight route, multiple UAVs fly from the starting point to the destination point at the same time;

[0015] S4: space-time application, when a UAV enters a divided space-time region, it will apply for the next space-time region to the platform;

[0016] S5: reservation processing, after receiving the space-time reservation application, the platform will integrate the airspace occupation of all UAVs on the route in the system, and give a reply;

[0017] S6: aircraft execution, after receiving the reply instruction from the platform, the UAV will either hover or wait, or will enter the airspace reservation.

[0018] The planned route is virtually formed into a three-dimensional pipe with a cross-sectional area of 25 square meters in the system, and the route from the starting point to the destination point is divided into several equal parts with an X-axis distance of 10 meters. Each equal part is labeled with a unique tag in the system, and each unique space can be uniquely reserved and occupied by a UAV flying on the route. When a UAV enters a space, it needs to apply to the system in the previous space or several spaces. If the applied space is occupied or reserved, the application will be rejected, and the applying UAV will hover at the application point to wait for the next round of application.

[0019] Compared with the prior art, the beneficial effects of the present application are:

[0020] 1. By using the space-time division algorithm, the entire route can be easily switched to segmented space-time regions. After the region division is completed, the virtual space-time segment on the route can be directly observed through the digital twin platform, and a unique identification code is assigned to each space-time region;

[0021] 2. By using the UAV position judgment algorithm, the current space-time region of the UAV can be determined through coordinate conversion, and the region is locked. When the space-time region is released, other UAVs cannot enter the region, avoiding collision accidents and ensuring the safety of the flight route;

[0022] 3. The use of this method allows multiple UAVs to fly on the same route at the same time, improving airspace utilization and material transportation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of the principles of the present application;

[0024] Figure 2 is a schematic diagram of the present application;

[0025] Figure 3 is a flow chart of the system of the present application; DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] Please refer to Figure 3 The flight scheduling method of the unmanned aerial vehicle based on the space-time reservation mechanism of the present application comprises the following steps:

[0028] S1: route planning, a flight route is planned from the take-off and landing point AB to avoid dense traffic and complex areas;

[0029] S2: space-time division, the route between the AB points is divided into several equal parts according to certain rules, and the simulation diagram of the space-time division can be directly observed from the twin map;

[0030] S3: route flight, multiple unmanned aerial vehicles fly from the starting point to the destination point at the same time;

[0031] S4: space-time application, when an unmanned aerial vehicle enters a divided space-time area, it will apply for reserving the next space-time area to the platform;

[0032] S5: reservation processing, after receiving the space-time reservation application, the platform will comprehensively consider the airspace occupation of all unmanned aerial vehicles on the route in the system, and give a reply;

[0033] S6: aircraft execution, after receiving the reply instruction from the platform, the unmanned aerial vehicle will hover and wait, or will reserve the airspace.

[0034] In S2, the route is divided into multiple 100-meter-long line segments, which have the same cross-sectional area of 25 square meters cylindrical space, and the route is divided into several equal parts with an X-axis distance of 10 meters from the starting point to the ending point. The area can also be divided according to the set radius parameter.

[0035] Through the space-time division algorithm, the entire route is switched to multiple space-time segments, which have the same cross-sectional area, ensuring that the judgment coordinates are under the same standard, thereby ensuring the accuracy of the judgment.

[0036] In S2, each stereoscopic space of each aliquot is uniquely labeled within the system, and each unique space can be uniquely reserved and occupied by a UAV flying on the route.

[0037] In S3, the current latitude, longitude, and altitude of the UAV are converted into ECEF coordinates by a real-time UAV position determination algorithm, and vector operations are performed with the space-time region to determine the space-time region segment in which the UAV is currently located.

[0038] Figure 1 、 Figure 2 As shown in the figure, the two agencies A and B exchange goods through UAVs, and two one-way and return routes are usually planned above the two agencies. Multiple UAVs share the two routes for goods distribution, and the two points A and B usually have multiple take-off and landing sites for simultaneous flight tasks in the same direction. The UAVs will follow the route planning and pass through one by one from the space-time stereoscopic space until they land at the destination landing site to complete the flight task.

[0039] For example: the A-B heading is 10 kilometers, and a total of 100 route spaces are divided. At the same time, two UAVs d1 and d2 fly from A to B. When d1 enters each route space, it requests the next route space reservation right from the cloud platform through the 4G / 5G data link. If the platform determines that the next space is not reserved or occupied, it will open the airspace to d1 and identify it as d1 reservation. When d1 enters the airspace, it will identify it as occupied. d2 also follows the same principle until the end of the route flight. This method can separate different UAVs in space-time to avoid air traffic accidents.

[0040] Specifically:

[0041] I. Space-time division method:

[0042] 1. Route segmentation: divide the route into multiple 100-meter-long line segments, with each line segment as the axis of a cylinder;

[0043] 2. Coordinate system conversion: convert the latitude, longitude, and altitude of the starting point A and the ending point B of each line segment into ECEF coordinates:

[0044] Ellipsoid parameters (WGS84 standard):

[0045] Major axis (equatorial radius) a = 6378137 m;

[0046] Oblateness f = 1 / 298.257223563;

[0047] Eccentricity e 2= 2f − f 2 ;

[0048] 1. Convert latitude and longitude to radians

[0049]

[0050] 2. Calculate the circle radius of curvature N:

[0051]

[0052] 3. Calculate ECEF coordinates:

[0053]

[0054] II. Real-time UAV position determination method:

[0055] 1. Coordinate conversion: convert the current latitude, longitude, and altitude of the UAV into ECEF (short for Earth-Centered, Earth-Fixed) coordinates P;

[0056] 2. For each cylindrical axis AB, calculate the vector AP (vector from P to A) and AB (vector from B to A);

[0057] 3. Use vector operations to determine if P is inside the cylinder;

[0058] 4. Judgment formula:

[0059] Given the cylindrical axis AB (starting point A, ending point B) and the UAV position P, the judgment conditions are as follows:

[0060] Calculate the vectors:

[0061] AB = B − A

[0062] AP = P − A;

[0063] Calculate the dot product and the square of the modulus:

[0064] dot = AP * AB

[0065] abSquared =∣AB∣2;

[0066] Check the range of projection parameter t:

[0067] 0 ≤ dot ≤ abSquared;

[0068] Calculate the cross product modulus square and compare:

[0069] ∣AP×AB∣2 ≤ ( 2.82 )2 × abSquared;

[0070] When the above conditions are met, the unmanned aerial vehicle is located in the cylinder.

[0071] Through the real-time position judgment algorithm of the unmanned aerial vehicle, the current longitude, latitude and height of the unmanned aerial vehicle are converted into ECEF coordinates, and vector operation is performed with the space-time region to judge the space-time region segment where the unmanned aerial vehicle is currently located.

[0072] The space-time division and real-time coordinate judgment are both performed after conversion into ECEF coordinates, thereby ensuring the standard consistency of the compared coordinate system.

[0073] In steps S3 and S4,

[0074] When the unmanned aerial vehicle judges that it is located in the space-time region, the state of the region is changed to occupied, and the next space-time is reserved to the platform.

[0075] The unmanned aerial vehicle judges which space-time region the coordinate position belongs to, and changes the state of the space-time region to occupied, so that other unmanned aerial vehicles are not allowed to enter the space-time region.

[0076] In step S6,

[0077] When other unmanned aerial vehicles apply to enter the two regions, one region is the space-time region actually occupied by the current unmanned aerial vehicle, and the other region is the space-time region reserved by the current unmanned aerial vehicle, the system gives a rejection instruction, and the unmanned aerial vehicle hovers and waits for reapplication.

[0078] Through the space-time reservation method on the flight route, the unmanned aerial vehicle scheduling platform automatically controls the traffic when the unmanned aerial vehicles in the system or the data have been accessed to the system on the flight route, and when two or more unmanned aerial vehicles fly on the same flight route at the same time, the unmanned aerial vehicles are automatically controlled and dispatched, one first and one later, to pull apart the distance in time and space, thereby avoiding safety accidents such as collision.

[0079] The improvement of the present application is distinguished from the existing method: in the original method, if the whole flight route is locked or manually controlled by human eye supervision, the flight route locking will reduce the utilization rate of the flight route and the efficiency of material transportation, if the manual control is controlled by human supervision, the efficiency will be affected, the labor cost will be increased, and the human control will have a judgment error, which will cause collision, safety accidents and property loss, and even affect personal safety. The use of the method converts the flight route into multiple logical spaces through an algorithm, thereby ensuring the safety of multiple unmanned aerial vehicles flying on the same flight route at the same time.

[0080] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A flight scheduling method for UAVs based on a time-space reservation mechanism, characterized in that: The following steps are involved: S1: Route planning: Plan a suitable flight route between take-off and landing points A and B, avoiding crowded and traffic-congested areas; S2: Time and space division: the route between points A and B is divided into several equal parts in three dimensions according to certain rules, and the simulation diagram of time and space division can be intuitively seen on the twin map; S3: Route flight, multiple drones fly from the starting point to the destination at the same time; S4: Space-time application: When a drone enters a divided space-time area, it will apply to the platform to reserve the next space-time area; S5: Reservation processing: After receiving the time and space reservation request, the platform will comprehensively analyze the airspace occupancy of all drones on the route in the system and give a response; S6: Aircraft execution. When the UAV receives the reply command from the platform, it hovers and waits, or reserves the airspace to enter.

2. The flight scheduling method for UAVs based on a time-space reservation mechanism according to claim 1, characterized in that: In S2, the route is divided into multiple 100-meter-long segments, each of which has a cylindrical space with the same cross-sectional area of ​​25 m2. The route is then divided from the starting point to the end point into several equal parts with an X-axis distance of 10 meters.

3. The flight scheduling method for unmanned aerial vehicles based on a time-space reservation mechanism according to claim 2, characterized in that: In S2, each equal portion of the three-dimensional space is uniquely labeled within the system, and each unique space is uniquely reserved and occupied by the drone currently flying on that route.

4. The flight scheduling method for unmanned aerial vehicles based on a time-space reservation mechanism according to claim 1, characterized in that: In S3, the drone’s real-time position determination algorithm is used to convert the drone’s current latitude and longitude into ECEF coordinates, and vector operations are performed with the time and space region to determine the drone’s current time and space region segment.

5. The flight scheduling method for unmanned aerial vehicles based on a time-space reservation mechanism according to claim 4, characterized in that: The real-time position determination algorithm of the drone: S31. Coordinate conversion: convert the current latitude, longitude and altitude of the drone into ECEF coordinates P; S32. For each cylindrical axis AB, calculate vectors AP and AB; S33. Use vector operations to determine whether P is inside the cylinder.

6. The flight scheduling method for unmanned aerial vehicles based on a time-space reservation mechanism according to claim 5, characterized in that: In S33, the judgment formula is: Given the cylinder axis AB and the drone position P, the judgment conditions are as follows: Calculate the vector: AB = B − A AP = P − A; Compute the dot product and the square of the magnitude: dot = AP * AB abSquared =∣AB∣ 2 ; Range check of projection parameter t: 0 ≤ dot ≤ abSquared; Compute the cross product modulo the square of the length and compare: ∣AP×AB∣ 2 ≤ ( 2.82 ) 2 × abSquared; When the above conditions are met, the drone is inside the cylinder.

7. The flight scheduling method for UAVs based on a time-space reservation mechanism according to claim 6, characterized in that: Through the real-time position determination algorithm of the drone, the current latitude and longitude of the drone are converted into ECEF coordinates, and vector operations are performed with the time and space area to determine the time and space area segment where the drone is currently located.

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