Track crossing control method, device and equipment for unmanned aerial vehicle, medium and product
By acquiring the drone's track crossing requirements and train operation schedules, a whitelist of low-altitude corridor airspace can be dynamically determined, enabling drones to safely cross rail transit lines. This solves the problem of low airspace utilization in airspace management and improves flight efficiency and the utilization of airspace resources.
Patent Information
- Application Number
- CN202511766142.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-27
- Publication Date
- 2026-04-21
AI Technical Summary
In the current technology, the management of low-altitude airspace for drones along urban rail transit lines lacks a real-time linkage mechanism with the operation status of rail transit, resulting in drone flight applications being passively waited for, low airspace utilization, high operating costs, and a large amount of airspace resources being idle.
A method for controlling UAV track crossing is provided. By acquiring the UAV's track crossing requirements and the train operation map of the target track, a whitelist of low-altitude corridor airspace is dynamically determined, the UAV is controlled to safely cross the track, position status information is acquired, and the crossing is completed under safe conditions.
It improves the low-altitude flight efficiency of drones, dynamically releases airspace resources, reduces operating costs, increases airspace utilization, and supports the sustainable development of the low-altitude economy.
Smart Images
Figure CN121900430A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of rail transit technology, and in particular to a method, device, equipment, medium and product for controlling the orbital crossing of unmanned aerial vehicles (UAVs). Background Technology
[0002] In recent years, the low-altitude economy has developed rapidly, with drone logistics, aerial inspection, and emergency rescue becoming increasingly common. Low-altitude airspace resources have gradually become an important support for urban operations and industrial development. However, along urban rail transit lines, especially in suburban sections, the lines are mostly laid on the ground or elevated, and the airspace above them is usually designated as a no-fly zone, subject to 24 / 7 closed management. While this "one-size-fits-all" no-fly strategy ensures the operational safety of rail transit, it also physically fragments low-altitude airspace, creating "airspace islands" that force drones to detour, significantly increasing flight distance, energy consumption, and logistics costs, and severely hindering the efficient development of the low-altitude economy.
[0003] Currently, in existing technologies, low-altitude airspace management mainly adopts static electronic fences or manual approval methods. Manual approval methods cannot calculate the available windows of protected areas in a timely manner, resulting in drone flight applications passively waiting, missing available airspace, and delaying missions. Manual approval methods are difficult to dynamically merge up and down flights, resulting in low airspace utilization and the inability to form an intelligent whitelist. The workload of manual approval methods increases linearly, resulting in high operating costs, and the shortage of professional approval personnel is becoming increasingly prominent. At the same time, there is a lack of a real-time linkage mechanism with the operation status of rail transit, making it impossible to dynamically adjust the no-fly zone for drones according to the actual operation of trains, resulting in a large amount of airspace resources that could be safely used being idle for a long time.
[0004] Therefore, there is an urgent need for a method, device, equipment, medium, and product for controlling the orbital crossing of unmanned aerial vehicles (UAVs) that can dynamically release low-altitude airspace and improve the flight efficiency of UAVs while ensuring the safety of rail transit operations. Summary of the Invention
[0005] This invention provides a method, apparatus, equipment, medium, and product for controlling the trajectory crossing of unmanned aerial vehicles (UAVs). It addresses the shortcomings of existing technologies that rely on static electronic fences or manual approval, lacking a real-time linkage mechanism with rail transit operation status. This prevents dynamic adjustment of UAV no-fly zones based on actual train operation, resulting in the long-term idleness of large amounts of potentially safe airspace resources. The invention achieves rapid determination of a low-altitude corridor airspace whitelist based on the train schedule of the target track and the UAV's trajectory crossing requirements. While controlling the UAV's trajectory crossing based on the whitelist, it acquires the UAV's position status information. Once the position status information confirms the UAV's safety within the target track, it determines the completion of the UAV's trajectory crossing. This technical solution helps improve the low-altitude flight efficiency of UAVs while ensuring the operational safety of rail transit on the target track, dynamically releasing low-altitude airspace to support the sustainable development of the low-altitude economy.
[0006] This invention provides a method for controlling the trajectory crossing of an unmanned aerial vehicle (UAV), comprising the following steps.
[0007] Obtain the trajectory crossing requirement of the drone; wherein, there is at least one drone, and the trajectory crossing requirement refers to the time required for the drone to cross the target trajectory. Obtain the train timetable for the target track; the train timetable shows the operation status of the target train on the target track and the track's availability. Determine the idle time of rail transit in both directions on the target track based on the train timetable; When the idle time of rail transit in both directions meets the demand for crossing the rail, a whitelist of low-altitude corridor airspace is determined; the low-altitude corridor airspace whitelist refers to the list of drones that can pass through the target rail. When controlling the drone to cross the target trajectory according to the low-altitude corridor airspace whitelist, obtain the drone's position and status information; Once the location status information confirms that the UAV is safely within the target orbit, the UAV is confirmed to have completed its crossing of the target orbit.
[0008] According to the present invention, a method for controlling the trajectory crossing of an unmanned aerial vehicle (UAV) includes, before obtaining the train schedule of the target trajectory, the UAV waiting in the waiting area of the target trajectory.
[0009] According to the present invention, a method for controlling the trajectory crossing of an unmanned aerial vehicle (UAV) is provided. When the uplink and downlink idle time of rail transit does not meet the requirements for crossing the trajectory, the method continues to return and execute the step of the UAV waiting in the waiting area of the target trajectory for crossing.
[0010] According to the present invention, a method for controlling the trajectory crossing of an unmanned aerial vehicle (UAV) further includes determining a speed limit dispatching command when it is determined, based on position status information, that the UAV is unsafe within the target trajectory; wherein the speed limit dispatching command is used to control the operation of a target train on the target trajectory; updating the train schedule according to the speed limit dispatching command, and continuing to return to the step of obtaining the train schedule of the target trajectory.
[0011] According to the present invention, a method for controlling the trajectory of an unmanned aerial vehicle (UAV) is provided, wherein the position status information includes visual position status information, radar position status information, and UAV fixed-frequency reported position status information.
[0012] According to the present invention, a method for controlling the trajectory of a drone is provided. Determining whether the drone is safe within the target trajectory based on position status information includes: determining that the drone is safe within the target trajectory if the drone is safe within the target trajectory based on visual position status information, radar position status information, or position status information reported by the drone at a fixed frequency; otherwise, determining that the drone is unsafe within the target trajectory.
[0013] The present invention also provides a trajectory crossing control device for a drone, comprising the following modules: The requirement acquisition module is used to acquire the trajectory crossing requirements of drones; wherein, there is at least one drone, and the trajectory crossing requirement refers to the time required for the drone to cross the target trajectory. The train operation diagram acquisition module is used to acquire the train operation diagram of the target track; the train operation diagram shows the operation status of the target train on the target track and the track's availability. The time determination module is used to determine the up-and-down idle time of rail transit on the target track based on the train timetable; The list determination module is used to determine the low-altitude corridor airspace whitelist when the rail transit up and down idle time meets the rail transit crossing requirements; the low-altitude corridor airspace whitelist refers to the list of drones that can pass through the target rail. The information determination module is used to obtain the position and status information of the UAV when controlling the UAV to cross the target track according to the low-altitude corridor airspace whitelist. The crossing completion module is used to determine that the UAV has completed crossing the target orbit after determining that the UAV is safe within the target orbit based on the position status information.
[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the orbital crossing control method of any of the above-described UAVs.
[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the orbital crossing control method of any of the above-described unmanned aerial vehicles.
[0016] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the orbital crossing control method of any of the above-described unmanned aerial vehicles.
[0017] This invention provides a method, apparatus, device, medium, and product for controlling the trajectory crossing of a drone. The method involves: acquiring the drone's trajectory crossing requirement (where at least one drone is involved, and the trajectory crossing requirement refers to the time required for the drone to cross the target trajectory); acquiring a train schedule for the target trajectory (showing the operation status of target trains and the track's availability); determining the up-and-down traffic idle time for the target trajectory based on the train schedule; determining a low-altitude corridor airspace whitelist if the up-and-down traffic idle time meets the trajectory crossing requirement; acquiring the drone's position status information while controlling the drone to cross the target trajectory based on the low-altitude corridor airspace whitelist; and determining that the drone has completed its trajectory crossing within the target trajectory after confirming its safety based on the position status information. The technical solution of this invention addresses the shortcomings of existing technologies that rely on static electronic fences or manual approval, lacking a real-time linkage mechanism with the operational status of rail transit. This prevents dynamic adjustment of drone no-fly zones based on actual train operation, resulting in the long-term idleness of a large amount of potentially safe airspace resources. The invention achieves rapid determination of a low-altitude corridor airspace whitelist based on the train schedule of the target track and the drone's track crossing requirements. While controlling drone crossings of the target track according to the whitelist, the invention obtains the drone's position status information. Once the position status information confirms the drone's safe passage within the target track, the invention confirms the drone's successful completion of the crossing. This technical solution helps improve the low-altitude flight efficiency of drones while ensuring the operational safety of rail transit on the target track, dynamically releasing low-altitude airspace to support the sustainable development of the low-altitude economy. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0019] Figure 1This is one of the flowcharts illustrating the UAV orbit crossing control method provided by the present invention.
[0020] Figure 2 This is a schematic diagram of the target trajectory provided by the present invention.
[0021] Figure 3 This is a schematic diagram of the up and down idle times of rail transit on the target track provided by the present invention.
[0022] Figure 4 This is the second flowchart of the UAV trajectory crossing control method provided by the present invention.
[0023] Figure 5 This is a schematic diagram of the trajectory crossing control device for unmanned aerial vehicles provided by the present invention.
[0024] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0026] The following is combined with Figures 1-4 The present invention describes the UAV trajectory crossing control method provided by the present invention. The UAV trajectory crossing control method provided by the present invention is applicable to the flight crossing of UAVs in target trajectories. The execution subject of this method can be an electronic device or a UAV trajectory crossing control device installed in the electronic device. The UAV trajectory crossing control device can be implemented by software, hardware or a combination of both. Figure 1 This is one of the flowcharts illustrating the UAV orbit crossing control method provided by the present invention, such as... Figure 1 As shown, the method includes the following steps: 101, 102, 103, 104, 105, and 106.
[0027] Step 101: Obtain the drone's track crossing requirement; wherein, there is at least one drone, and the track crossing requirement refers to the time required for the drone to cross the target track.
[0028] Specifically, when a drone needs to cross a target track, the drone's track crossing requirement is obtained, which includes at least one time requirement for the drone to cross the target track.
[0029] Step 102: Obtain the train operation diagram of the target track; wherein, the train operation diagram shows the operation status of the target train on the target track and the track vacancy status.
[0030] In this step, the train timetable is obtained from the Automatic Train Supervision (ATS) system of the target train on the target track. For example, the ATS can collect real-time information on the real-time location of the target train on the target track, the actual speed of the train, the delay increment, and the data update cycle. The real-time location information, the actual speed of the train, the delay increment, and the data update cycle are convenient for subsequent dynamic adjustment of the low-altitude corridor airspace whitelist. This embodiment does not limit this.
[0031] Specifically, the system obtains the operating status of each train and the availability of the track from the automatic train monitoring system of the target train on the target track, and then generates a train operation map for the target track based on the operating status of each train and the availability of the track.
[0032] In one specific embodiment, Figure 2 This is a schematic diagram of the target trajectory provided by the present invention, as shown below. Figure 2 The diagram illustrates the situation of a drone crossing the low-altitude corridor and waiting area of the target orbital traffic. Figure 2 The system includes a target track's rail transit protection zone, low-altitude corridors, multi-rotor waiting areas, and hybrid-wing hovering waiting areas. A safe distance exists between the two low-altitude corridors. There are also two stations, A and B. The area within the two black lines of the rail transit protection zone is the electronic fence of the rail transit protection zone. The two red dots represent unsafe areas outside the train's operating line, including both up and down routes. (Specific details are as follows...) Figure 2 As shown.
[0033] Specifically, for Figure 2 The determination of the target track is usually achieved by obtaining geographical location information such as the take-off and landing sites and the origin-to-destination (OD) points along the rail transit line, which serve as the basis for site selection for crossing the low-altitude flight corridor of rail transit, and marking the coordinates of the electronic fence and waiting area of the rail transit protection zone.
[0034] For example, it could be origin-destination. Figure 2 Stations A and B in the diagram are used as the basis for selecting the location of the low-altitude flight corridor for UAVs to cross the target track, based on the operation of train 1 at stations A and B. The electronic fence marking the rail transit protection zone can be, for example, the area within the two black lines in the rail transit protection zone. The waiting area can be, for example, the multi-rotor waiting area and the hybrid wing hovering waiting area on both sides of the target track. This embodiment does not limit this.
[0035] In one specific embodiment, before obtaining the train timetable of the target track, the method further includes: the drone traversing and waiting in the waiting area of the target track.
[0036] In this step, the waiting area could be, for example, Figure 2 The multi-rotor waiting area and hybrid wing hovering waiting area on both sides of the target trajectory are not limited in this embodiment.
[0037] Specifically, before obtaining the train schedule for the target track, the drone traverses and waits in the waiting area of the target track.
[0038] Step 103: Determine the idle time of rail transit in both directions for the target track according to the train timetable.
[0039] Specifically, after obtaining the train timetable, the idle time for both up and down rail transit on the target track is determined based on the train timetable.
[0040] In one specific embodiment, Figure 3 This is a schematic diagram of the up and down idle times of rail transit on the target track provided by the present invention, as shown in the figure. Figure 3 As shown, the up and down idle periods in the target track are determined based on the up and down train operating lines of the target train in the target track, and these up and down idle periods are defined as the up and down idle times of the rail transit in the target track.
[0041] in, Figure 3 For example, there are stations A, B, C, a low-altitude corridor, D, E, and F. Figure 3 The numbers 00, 10, 20, 30, 40, and 50 all indicate that the target train operation status of the station is determined at 10-minute intervals and at 1-hour (60-minute) cycles. The up and down idle periods in the target track are determined based on the up and down train operation lines of the target train in the target track. The up and down idle periods are determined as the up and down idle times of the rail transit in the target track. This embodiment does not limit this.
[0042] Figure 3 The red line represents the up-line train operation of the target train on the target track, the blue line represents the down-line train operation of the target train on the target track, the green part represents the up-line and down-line idle time of the target track, that is, the up-line and down-line idle time of the rail transit on the target track, and the black line interval between the blue and red lines represents the turnaround relationship and turnaround time of the target train on the target track.
[0043] Specifically, the determination of the up and down idle periods usually involves extracting the arrival and departure times of the target trains on the target tracks. The goal is to maximize the up and down idle time of the track sections where the low-altitude corridor is located. The turnaround relationships and stopping times of the target trains are adjusted, and the up and down idle periods of the low-altitude corridor are optimized according to the following constraints: (1) The turnaround time of the target train satisfies the minimum turnaround time constraint (the minimum turnaround time is a pre-set train turnaround time); (2) The stopping time of the target train at stations satisfies the minimum stopping time constraint (the minimum stopping time is a pre-set train stopping time); (3) The train intervals at each station within the line satisfy the safety and service frequency constraints; (4) The single idle time of the target track section should satisfy the requirement for safe passage of UAVs through the rail transit protection zone. To meet the above constraints, an adaptive large-scale neighborhood search algorithm can be used to optimize the train timetable. This embodiment does not limit this approach.
[0044] In one specific embodiment, the train timetable can be used as input first, and the intersection of the real-time arrival and departure times of the target train and the protected section can be adjusted to maximize the calculation of the initial up-line idle time window and the initial down-line idle time window. The station stop elastic adjustment algorithm is used to merge the initial up-line idle time window and the initial down-line idle time window to obtain the up-line and down-line idle time periods of the target track, so that the up-line and down-line idle time periods meet the minimum safety interval constraint. This embodiment does not limit this.
[0045] Step 104: If the up and down traffic hours of rail transit meet the requirements for crossing the track, determine the low-altitude corridor airspace whitelist; whereby the low-altitude corridor airspace whitelist refers to the list of drones that can pass through the target track.
[0046] In this step, it is determined whether the idle time of the rail transit system in both directions meets the requirement of crossing the track. If the required time for crossing the track is less than or equal to the idle time of the rail transit system in both directions, it is determined that the idle time of the rail transit system in both directions meets the requirement of crossing the track. If the required time for crossing the track is greater than the idle time of the rail transit system in both directions, it is determined that the idle time of the rail transit system in both directions does not meet the requirement of crossing the track.
[0047] Specifically, when the idle time of rail transit in both directions meets the demand for crossing the rail, a whitelist of low-altitude corridor airspace will be determined; the low-altitude corridor airspace whitelist refers to the list of drones that can pass through the target rail.
[0048] For example, if there are multiple drones a, b, and c, and drone a requires 1 minute, drone b requires 2 minutes, and drone c requires 5 minutes, and the idle time for both directions of the rail transit is 3 minutes and 30 seconds, then the combined required time of drones a and b is determined to be 3 minutes, which is less than the idle time of 3 minutes and 30 seconds for both directions of the rail transit. Therefore, the idle time for both directions of the rail transit is determined to satisfy the rail transit crossing requests of drones a and b, and drones a and b are included in the low-altitude corridor airspace whitelist.
[0049] In one specific embodiment, registration and queuing services are provided for drones in the airspace of rail transit protection zones that have to cross target tracks. When the drones' track crossing needs are met during the uplink and downlink idle time of rail transit, the drones' flight plans are approved in a timely manner.
[0050] The advantage of this setup is that it avoids the spatial and temporal intersection of the flight paths of the target train and the low-altitude flying drone in the target track, meets the flight requirements of the low-altitude drones crossing the rail transit protection zone of the target track, and ensures the safe operation of rail transit and drones in the target track through the low-altitude corridor airspace whitelist approval mechanism.
[0051] In one specific embodiment, the method further includes: if the idle time of the rail transit up and down does not meet the requirements for crossing the track, the method continues to return to the waiting area of the target track for the drone to cross and wait.
[0052] Specifically, if the idle time of the rail transit system in both directions does not meet the requirements for crossing the track, the drone will continue to return to the waiting area of the target track to perform the crossing and waiting steps.
[0053] For example, if there are multiple drones a, b, and c, and drone a requires 3 minutes, drone b requires 5 minutes, and drone c requires 4 minutes, and the idle time for both directions of the rail transit is 2 minutes and 30 seconds, then it is determined that the required times of drones a, b, and c are all greater than the idle time of 3 minutes and 30 seconds. Therefore, it is determined that the idle time of the rail transit does not meet the crossing requests of drones a, b, and c, and drones a, b, and c continue to wait in the waiting area of the target track.
[0054] Step 105: While controlling the UAV to cross the target track according to the low-altitude corridor airspace whitelist, obtain the UAV's position status information.
[0055] In this step, the location status information is used to reflect the current location of the drone.
[0056] Specifically, after determining the low-altitude corridor airspace whitelist, the drone is controlled to cross the target track according to the low-altitude corridor airspace whitelist, and the drone's position status information is obtained while the drone is controlled to cross the target track according to the low-altitude corridor airspace whitelist.
[0057] For example, when it is determined that the low-altitude corridor airspace whitelist includes drone a and drone b, it is determined which drone is waiting first. If it is determined that drone a is waiting first and drone b is waiting later, then drone a is first controlled to cross the target track to obtain the position status information of drone a, and then drone b is controlled to cross the target track to obtain the position status information of drone b.
[0058] Step 106: If the location status information confirms that the UAV is safe within the target orbit, then confirm that the UAV has completed its crossing of the target orbit.
[0059] In this step, after obtaining the drone's position status information, it is determined whether the drone is safe within the target orbit based on the position status information.
[0060] Specifically, after determining that the UAV is safe within the target orbit based on its position status information, the UAV is confirmed to have completed its crossing of the target orbit.
[0061] In one specific embodiment, the method further includes: determining a speed limit dispatching command when it is determined from the location status information that the UAV is unsafe within the target track; wherein the speed limit dispatching command is used to control the operation of the target train on the target track; updating the train timetable according to the speed limit dispatching command, and continuing to return to the step of obtaining the train timetable of the target track.
[0062] Specifically, if it is determined that the UAV is unsafe within the target track based on the location status information, the operation of the target train in the target track needs to be adjusted. This is done by determining a speed limit dispatching command, controlling the operation of the target train on the target track based on the speed limit dispatching command, updating the train timetable based on the adjusted operation of the target train, and then returning to the step of obtaining the train timetable of the target track.
[0063] For example, if it is determined from the location status information that the UAV is unsafe within the target track, and it cannot be determined that the UAV is safe within the rail transit protection zone of the target track, a speed limit dispatching command for the target train is sent to the ATS according to the fail-safe principle. The train timetable is updated according to the speed limit dispatching command, and the process continues to return to the step of obtaining the train timetable of the target track. Alternatively, a section closure dispatching command can be sent to safely close the target track according to the section closure dispatching command, report to the dispatching command center, and allow the signal to be opened after confirming that the risk has been eliminated.
[0064] In one specific embodiment, the position status information includes visual position status information, radar position status information, and UAV-reported position status information based on its fixed frequency. Determining whether the UAV is safe within the target orbit based on the position status information includes: if the UAV is safe within the target orbit based on visual position status information, radar position status information, or UAV-reported position status information, then the UAV is safe within the target orbit; otherwise, the UAV is unsafe within the target orbit.
[0065] In this step, visual position status information can be acquired, for example, through camera video. Specifically, based on visual recognition algorithms, drones within the low-altitude corridor are marked, and the flight status of drones and payloads is monitored. Radar position status information can be acquired, for example, through detection radar. Specifically, radar is used to locate and monitor drones in the low-altitude corridor and waiting area airspace in real time. Drone frequency-based reporting of position status information can be achieved, for example, through drones reporting their own frequency. Specifically, the flight status of drones within the low-altitude corridor airspace whitelist is received and processed in real time, and abnormal flight status is monitored and alarms are triggered.
[0066] Specifically, after collecting the UAV's visual position status information, radar position status information, and UAV's frequency-reported position status information, if all three information indicate that the UAV is safe within the target orbit, then the UAV is determined to be safe within the target orbit. If any one of these three information indicates that the UAV is unsafe within the target orbit, then the UAV is determined to be unsafe within the target orbit.
[0067] The advantage of this setup is that it integrates the visual position status information from video surveillance, the radar position status information from radar, and the fixed-frequency position status information reported by the UAV from UAV status feedback. Through visual recognition and other algorithms, it can confirm that the UAV and its payload have safely entered and exited the rail transit protection zone of the target track. According to the fault-oriented safety principle, if it is not possible to confirm that it is safe within the protection zone, it will send a speed limit dispatching command or a section blockage dispatching command to the ATS.
[0068] In one specific embodiment, Figure 4 This is the second flowchart illustrating the UAV trajectory crossing control method provided by the present invention, as shown below. Figure 4 As shown, the steps include 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, and 412.
[0069] Step 401: Obtain the drone's traverse track requirements.
[0070] Step 402: The drone waits in the waiting area of the target orbit.
[0071] Step 403: Obtain the train schedule for the target track.
[0072] Step 404: Determine the idle time of rail transit in both directions for the target track according to the train timetable.
[0073] Step 405: Determine whether the idle time of the rail transit in both directions meets the requirements for crossing the track.
[0074] Specifically, if the idle time of the rail transit system in both directions meets the requirement of crossing the track, proceed to step 406; if the idle time of the rail transit system in both directions does not meet the requirement of crossing the track, return to step 402.
[0075] Step 406: Determine the whitelist of low-altitude corridor airspace.
[0076] Specifically, a whitelist of low-altitude corridor airspace will be established when the idle time of rail transit in both directions meets the demand for crossing the rail lines.
[0077] Step 407: Control the drone to cross the target trajectory according to the low-altitude corridor airspace whitelist.
[0078] Step 408: Obtain the location and status information of the drone.
[0079] Specifically, the drone's position and status information is obtained when the drone is controlled to cross the target trajectory based on the low-altitude corridor airspace whitelist.
[0080] Step 409: Determine whether the UAV is safe within the target orbit based on the location status information.
[0081] Specifically, if the location status information determines that the UAV is not safe within the target orbit, proceed to step 410; if the location status information determines that the UAV is safe within the target orbit, proceed to step 412.
[0082] Step 410: Determine the speed limit dispatch instruction.
[0083] Specifically, if the location status information determines that the drone is unsafe within the target orbit, a speed-limiting dispatch instruction is issued.
[0084] Step 411: Update the train timetable according to the speed limit dispatching instructions.
[0085] Specifically, the train timetable is updated according to the speed limit dispatching instruction, and then the process returns to step 403.
[0086] Step 412: Confirm that the drone has completed its crossing of the target trajectory.
[0087] Specifically, after determining that the UAV is safe within the target orbit based on its position status information, the UAV is confirmed to have completed its crossing of the target orbit.
[0088] The advantage of this setup is that it aims to solve the problems of poor real-time performance, low automation, and high manpower consumption in the existing low-altitude approval system when dealing with the release of airspace in urban rail transit protection zones. Based on the train operation schedule, a dynamic whitelist of low-altitude corridor airspace is quickly calculated, enabling low-altitude corridors to release flyable windows in protection zones in real time and automatically adjust flight routes, thereby improving the utilization rate of low-altitude corridors. It has the advantages of real-time response, automation, intelligence, and reduced human resource consumption, which helps to improve the efficiency of low-altitude flight while ensuring the safety of rail transit operations on the target track.
[0089] This invention provides a method for controlling the trajectory crossing of a drone. The method involves: acquiring the drone's trajectory crossing requirement (where at least one drone is involved, and the trajectory crossing requirement refers to the time required for the drone to cross the target trajectory); acquiring a train schedule for the target trajectory (showing the operation status of target trains and the track's availability); determining the up-and-down traffic idle time for the target trajectory based on the train schedule; determining a low-altitude corridor airspace whitelist if the up-and-down traffic idle time meets the trajectory crossing requirement; acquiring the drone's position status information based on the low-altitude corridor airspace whitelist; and determining that the drone is safely within the target trajectory based on the position status information, thus confirming that the drone has completed its trajectory crossing within the target trajectory. The technical solution of this invention addresses the shortcomings of existing technologies that rely on static electronic fences or manual approval, lacking a real-time linkage mechanism with the operational status of rail transit. This prevents dynamic adjustment of drone no-fly zones based on actual train operation, resulting in the long-term idleness of a large amount of potentially safe airspace resources. The invention achieves rapid determination of a low-altitude corridor airspace whitelist based on the train schedule of the target track and the drone's track crossing requirements. While controlling drone crossings of the target track according to the whitelist, the invention obtains the drone's position status information. Once the position status information confirms the drone's safe passage within the target track, the invention confirms the drone's successful completion of the crossing. This technical solution helps improve the low-altitude flight efficiency of drones while ensuring the operational safety of rail transit on the target track, dynamically releasing low-altitude airspace to support the sustainable development of the low-altitude economy.
[0090] The UAV trajectory crossing control device provided by the present invention will be described below. The UAV trajectory crossing control device described below can be referred to in correspondence with the UAV trajectory crossing control method described above.
[0091] Figure 5 This is a schematic diagram of the trajectory crossing control device for a drone provided by the present invention, with reference to... Figure 5 As shown, the UAV trajectory crossing control device 500 includes: a demand acquisition module 501, a flight map acquisition module 502, a time determination module 503, a list determination module 504, an information determination module 505, and a crossing completion module 506; wherein, The requirement acquisition module 501 is used to acquire the track crossing requirement of the UAV; wherein, there is at least one UAV, and the track crossing requirement refers to the time required for the UAV to cross the target track. The train operation diagram acquisition module 502 is used to acquire the train operation diagram of the target track; wherein, the train operation diagram shows the operation status of the target train on the target track and the track's availability status; The time determination module 503 is used to determine the up-and-down idle time of rail transit on the target track according to the train timetable; The list determination module 504 is used to determine the low-altitude corridor airspace whitelist when the rail transit up and down idle time meets the rail transit crossing requirements; wherein, the low-altitude corridor airspace whitelist refers to the list of drones that can pass through the target rail. The information determination module 505 is used to obtain the position status information of the UAV when controlling the UAV to pass through the target track according to the low-altitude corridor airspace whitelist. The crossing completion module 506 is used to determine that the UAV has completed crossing the target orbit after determining that the UAV is safe within the target orbit based on the position status information.
[0092] In one example embodiment, the device includes a crossing-waiting module. The crossing-waiting module is configured to: allow the drone to cross-wait in a waiting area of the target track before acquiring the train schedule for that track.
[0093] In one example embodiment, the device further includes a return execution module. The return execution module is configured to: if the idle time for uplink and downlink traffic does not meet the requirements for crossing the track, continue to return and execute the step of the UAV waiting in the waiting area of the target track for crossing.
[0094] In one example embodiment, the apparatus further includes a train schedule update module. The train schedule update module is configured to: determine a speed limit dispatch instruction when it is determined, based on location status information, that the UAV is unsafe within the target track; wherein the speed limit dispatch instruction is used to control the operation of the target train on the target track; update the train schedule according to the speed limit dispatch instruction, and then return to the step of obtaining the train schedule of the target track.
[0095] In one example embodiment, the location status information includes visual location status information, radar location status information, and UAV fixed-frequency reported location status information.
[0096] In one example embodiment, the device further includes a safety determination module. The safety determination module is configured to: determine that the UAV is safe within the target orbit if, based on visual position information, based on radar position information, or based on position information reported by the UAV at a fixed frequency, the UAV is safe within the target orbit; otherwise, determine that the UAV is unsafe within the target orbit.
[0097] The apparatus of this embodiment can be used to execute the method of any embodiment in the side embodiment of the UAV orbit crossing control method. Its specific implementation process and technical effects are similar to those in the side embodiment of the UAV orbit crossing control method. For details, please refer to the detailed description in the side embodiment of the UAV orbit crossing control method, which will not be repeated here.
[0098] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 6As shown, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communications bus 640, wherein the processor 610, the communications interface 620, and the memory 630 communicate with each other through the communications bus 640. The processor 610 can call logic instructions in the memory 630 to execute a UAV track crossing control method. This method includes: acquiring the UAV's track crossing requirement; wherein the UAV is at least one, and the track crossing requirement refers to the required time for the UAV to cross the target track; acquiring the train schedule for the target track; wherein the train schedule indicates the operation status of target trains on the target track and the track's availability; determining the up-and-down traffic idle time for the target track based on the train schedule; if the up-and-down traffic idle time meets the track crossing requirement, determining a low-altitude corridor airspace whitelist; wherein the low-altitude corridor airspace whitelist refers to a list of UAVs that can pass through the target track; acquiring the UAV's position status information while controlling the UAV to cross the target track based on the low-altitude corridor airspace whitelist; and determining that the UAV has completed crossing the target track after determining that it is safe within the target track based on the position status information.
[0099] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0100] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the UAV track crossing control method provided by the above methods. The method includes: obtaining the UAV's track crossing requirement; wherein, there is at least one UAV, and the track crossing requirement refers to the time required for the UAV to cross the target track; obtaining the train schedule of the target track; wherein, the train schedule indicates the operation status of the target train on the target track and the track's availability; determining the up-and-down idle time of the rail traffic on the target track based on the train schedule; determining a low-altitude corridor airspace whitelist when the up-and-down idle time of the rail traffic meets the track crossing requirement; wherein, the low-altitude corridor airspace whitelist refers to a list of UAVs that can pass through the target track; obtaining the UAV's position status information when controlling the UAV to cross the target track according to the low-altitude corridor airspace whitelist; and determining that the UAV has completed crossing the target track when it is determined that the UAV is safe within the target track based on the position status information.
[0101] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the UAV track crossing control method provided by the above methods. The method includes: acquiring the UAV's track crossing requirement; wherein the UAV is at least one, and the track crossing requirement refers to the required time for the UAV to cross the target track; acquiring a train schedule for the target track; wherein the train schedule indicates the operation status of target trains on the target track and the track's availability; determining the up-and-down traffic idle time of the target track based on the train schedule; determining a low-altitude corridor airspace whitelist when the up-and-down traffic idle time meets the track crossing requirement; wherein the low-altitude corridor airspace whitelist refers to a list of UAVs that can pass through the target track; acquiring the UAV's position status information when controlling the UAV to cross the target track based on the low-altitude corridor airspace whitelist; and determining that the UAV has completed crossing the target track when it is determined, based on the position status information, that the UAV is safe within the target track.
[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for controlling the trajectory crossing of an unmanned aerial vehicle (UAV), characterized in that, include: Obtain the trajectory crossing requirement of the drone; wherein, the drone is at least one, and the trajectory crossing requirement refers to the time required for the drone to cross the target trajectory; Obtain the train operation diagram of the target track; wherein the train operation diagram represents the operation status of the target train on the target track and the track's availability; The idle time of rail traffic in both directions on the target track is determined according to the train timetable. If the idle time of the rail transit in both directions meets the requirement of crossing the rail, a whitelist of low-altitude corridor airspace is determined; wherein, the whitelist of low-altitude corridor airspace refers to the list of drones that can pass through the target rail. When the UAV is controlled to traverse the target track according to the low-altitude corridor airspace whitelist, the position status information of the UAV is obtained; If the location status information indicates that the UAV is safe within the target orbit, then the passage of the UAV within the target orbit is considered complete.
2. The UAV trajectory crossing control method according to claim 1, characterized in that, Before obtaining the train timetable for the target track, the method further includes: The drone traverses and waits in the waiting area of the target trajectory.
3. The UAV trajectory crossing control method according to claim 2, characterized in that, Also includes: If the idle time of the rail transit in both directions does not meet the requirements for crossing the track, the process continues to return to the waiting area of the target track for the UAV to cross and wait.
4. The UAV trajectory crossing control method according to claim 1, characterized in that, Also includes: If, based on the location status information, it is determined that the UAV is unsafe within the target track, a speed-limiting dispatch command is issued; wherein, the speed-limiting dispatch command is used to control the operation of the target train on the target track; The train timetable is updated according to the speed limit dispatching instruction, and the process continues to return to the step of obtaining the train timetable of the target track.
5. The orbital crossing control method for a UAV according to any one of claims 1-4, characterized in that, The location status information includes visual location status information, radar location status information, and UAV fixed-frequency reported location status information.
6. The UAV trajectory crossing control method according to claim 5, characterized in that, Determining whether the UAV is safe within the target orbit based on the location status information includes: If the UAV is determined to be safe within the target orbit based on the visual position status information, the radar position status information, or the UAV's fixed-frequency reported position status information, then the UAV is determined to be safe within the target orbit; otherwise, the UAV is determined to be unsafe within the target orbit.
7. A trajectory crossing control device for an unmanned aerial vehicle (UAV), characterized in that, include: The requirement acquisition module is used to acquire the trajectory crossing requirements of the UAV; wherein, the UAV is at least one, and the trajectory crossing requirement refers to the time required for the UAV to cross the target trajectory; The train operation diagram acquisition module is used to acquire the train operation diagram of the target track; wherein, the train operation diagram represents the operation status of the target train on the target track and the track's availability status; The time determination module is used to determine the up-and-down idle time of rail transit on the target track based on the train timetable; The list determination module is used to determine a low-altitude corridor airspace whitelist when the idle time of the rail transit in both directions meets the rail crossing requirement; wherein, the low-altitude corridor airspace whitelist refers to the list of drones that can pass through the target rail. The information determination module is used to obtain the position status information of the UAV when controlling the UAV to pass through the target track according to the low-altitude corridor airspace whitelist; The crossing completion module is used to determine that the UAV has completed crossing the target track if the UAV is safe within the target track based on the position status information.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the UAV orbit crossing control method as described in any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the UAV orbit crossing control method as described in any one of claims 1 to 6.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the UAV orbit crossing control method as described in any one of claims 1 to 6.