Unmanned aerial vehicle airspace visual control method and system based on map interaction

Abstract

The invention provides an unmanned aerial vehicle airspace visualization control method and system based on map interaction, and relates to the technical field of unmanned aerial vehicle airspace visualization control, and the method comprises the steps: obtaining an operation pre-state, generating a time consistent state snapshot, generating an operation intention when an operation request is triggered, and carrying out the execution judgment. The method comprises the following steps: generating a judgment result comprising an executable conclusion, a limit reason and an acceptance strategy, executing acceptance processing, determining an acceptance state identifier, when the acceptance state identifier is that the operation intention is accepted successfully, generating a control instruction, issuing the control instruction to a control object, obtaining an execution result, writing the execution result back to the control object, and synchronously updating situation information in a map. The technical problems that in an existing unmanned aerial vehicle command platform based on an electronic map, due to the fact that map interaction operation is disjointed with control authority, communication links, operation modes, airspace rules and other multi-source operation front states, operation performability is difficult to judge in real time, acceptance conflicts are difficult to arbitrate, and task execution feedback is lagged are solved.

Description

Technical Field

[0001] This invention relates to the field of UAV airspace visualization and control technology, and particularly to a UAV airspace visualization and control method and system based on map interaction. Background Technology

[0002] With the widespread application of police drones in scenarios such as security patrols, emergency response, and deployment in key areas, the response speed and coordination capabilities of command and dispatch have become crucial to improving the effectiveness of urban public safety governance. Existing technologies generally adopt interactive command platforms based on electronic maps, which overlay spatial objects such as drones, airports, flight routes, no-fly zones, and mission areas with information such as video transmissions and event alarms on the map. This supports the rapid allocation and distribution of tasks through point selection, box selection, or list methods, achieving a preliminary integration of situational awareness and command and dispatch.

[0003] However, with the large-scale deployment of police drone systems and the increasing demand for multi-position, multi-station collaborative operations, existing platforms have gradually exposed deep-seated technical bottlenecks in practical applications. Specifically, spatial objects displayed on the map often serve only as interaction entry points, lacking a close data connection with the multi-source operational prerequisites upon which actual task assignment and remote control depend, such as permission ownership, communication link status, equipment operating mode, airspace rules, and task status. Various key status information is typically collected separately by different subsystems and reported asynchronously, resulting in inconsistencies in collection frequency, network latency, and update timing. This makes it difficult to keep the map view synchronized with the actual executable conditions of the underlying control link. In high-concurrency scenarios such as complex task distribution, flight path assignment, equipment takeover, and emergency response, even if operators can select targets on the map to initiate operations, they cannot directly know whether the system meets all executable prerequisites at that moment, nor can they promptly learn about specific situations where operations are restricted or fail due to permission, link, mode conflicts, or airspace violations. Most existing platforms rely on pop-up prompts or post-event logs to provide feedback on operation results, lacking structured mechanisms for determining executability and attributing failure causes. Furthermore, in multi-seat concurrent scheduling, the system's arbitration capabilities for operational conflicts, duplicate instructions, and control disputes are limited. Additionally, the feedback process between processing results and device status has a certain time lag, making it difficult for the situational information on the map to reflect the current link status and task execution results in real time. This affects the accuracy of command decisions and the timeliness of response, severely restricting the intelligent and efficient application of police drones in scenarios such as emergency response to sudden incidents and high-frequency urban patrols. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a UAV airspace visualization control method and system based on map interaction. The first aspect of the present invention provides a UAV airspace visualization control method based on map interaction. The method includes: establishing map spatial objects for UAVs, flight routes, mission areas, and airspace ranges in an electronic map, and establishing corresponding control object records for each map spatial object, so that map interaction operations can be uniquely mapped to the corresponding control object. Acquiring the pre-operational states related to the control object, the pre-operational states include at least control permission status, communication link status, mission status, operating mode status, and status update time information, and storing them in a unified structure as a set of pre-operational states for the control object. Performing time validity filtering on the set of pre-operational states, and then performing state consistency comparison, generating a time-consistent state snapshot reflecting the current controllable conditions. When an operator triggers an operation request for the control object through map interaction, generating a corresponding operation intent, and based on the time-consistent state snapshot and combined with airspace constraints, determining the executability of the operation intent, generating a determination result including an executability conclusion, the reason for the restriction, and the acceptance strategy. The acceptance process is executed according to the acceptance strategy. An acceptance status identifier is determined based on the processing result. When the acceptance status identifier indicates that the operation intent has been accepted, a control command is generated based on the operation intent and issued to the controlled object. The execution result of the control command is obtained and written back to the controlled object to update the pre-run state set. Based on the updated pre-run state set, the situational information in the map is synchronously updated.

[0005] The second aspect of this invention provides a map-interactive UAV airspace visualization control system. The system includes: a map spatial object management module, used to establish map spatial objects for UAVs, flight routes, mission areas, and airspace ranges on an electronic map, and to establish corresponding control object records for each map spatial object, enabling map interaction operations to be uniquely mapped to the corresponding control object; a pre-operation state acquisition and storage module, used to acquire pre-operation states related to the control object, including at least control permission status, communication link status, task status, operation mode status, and status update time information, and storing them in a unified structure as a set of pre-operation states for the control object; a status snapshot generation module, used to perform time validity filtering on the set of pre-operation states, and then perform status consistency comparison to generate a time-consistent status snapshot reflecting the current controllable conditions; and an operation intent generation and judgment module, used to generate a corresponding operation intent when an operator triggers an operation request for the control object through map interaction, and based on the time-consistent status snapshot and combined with airspace constraints, to perform an executability judgment on the operation intent, generating a judgment result including an executability conclusion, the reason for the restriction, and the acceptance strategy. The acceptance processing and instruction issuance module is used to execute acceptance processing according to the acceptance strategy, determine the acceptance status identifier based on the acceptance processing result, and when the acceptance status identifier indicates that the operation intention has been accepted, generate control instructions based on the operation intention and issue them to the controlled object. The execution result write-back and situation synchronization module is used to obtain the execution result of the control instruction and write the execution result back to the controlled object to update the pre-run state set, and synchronously update the situation information in the map based on the updated pre-run state set.

[0006] The beneficial effects of the technical solutions provided by the embodiments of the present invention include at least the following: 1. This invention solves the problem of inconsistency between map display and actual control status in existing technologies by establishing and managing spatial mapping of UAVs, flight routes, mission areas, and airspace in electronic maps. Specifically, by closely linking multi-source operational pre-states with map display, it ensures that operators can accurately and in real-time obtain the executable conditions of each mission and flight task, thereby achieving more precise task allocation and execution.

[0007] 2. During the task acceptance process, this invention, through an executability determination mechanism combined with airspace constraints and pre-operation conditions, can provide real-time feedback on whether the task meets the execution conditions and dynamically adjust the task acceptance strategy (such as immediate acceptance, queuing, preemption, or rejection) according to specific circumstances. This improves response speed and scheduling efficiency in high-concurrency environments, optimizes the accuracy and coordination of command and dispatch, and especially in scenarios such as emergency response to sudden events and high-frequency urban patrols, it can ensure that the UAV system can respond in the shortest possible time and complete complex task scheduling.

[0008] 3. This invention, through a real-time feedback mechanism for task execution results (including equipment status updates and map situation synchronization), ensures that the situation information on the map is consistent with the actual status of the control link. Especially in collaborative operations and multi-position, multi-seat operations, it avoids command and decision delays caused by processing time lags, ensures that various indicators in task execution can be tracked and adjusted in real time, and improves the work efficiency and safety of police drones. Attached Figure Description

[0009] Figure 1 This is a flowchart of a UAV airspace visualization control method based on map interaction provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a UAV airspace visualization control system based on map interaction provided in an embodiment of the present invention; Figure 3 This is the online list on the left side of the operation interface of the airborne rapid response command platform involved in this embodiment of the invention; Figure 4 This is a list of airports representing the user interface of the airborne rapid response command platform according to an embodiment of the present invention. Figure 5 This is the airport pop-up image that appears when you click on the airport list; Figure 6 This is the left-hand warning list of the operation interface of the airborne rapid response command platform involved in this embodiment of the invention; Figure 7 This refers to the search bar of the operation interface of the airborne rapid response command platform involved in the embodiments of the present invention. Figure 8 This refers to the intelligent recommendation bar in the user interface of the airborne rapid response command platform involved in this embodiment of the invention. Figure 9 This refers to the map control bar of the operation interface of the airborne rapid response command platform involved in the embodiments of the present invention; Figure 10 A separate image is displayed for the live stream portion; Figure 11 Pop-up window for sharing live stream; Figure 12 This is a newly added planned task interface for the task management of the airborne rapid response command platform involved in this embodiment of the invention; Figure 13 This is the flight record details interface of the airborne rapid response command platform involved in the embodiments of the present invention; Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0011] One embodiment of the present invention provides a method for UAV airspace visualization and control based on map interaction, such as... Figure 1 The flowchart shown is for a map-interactive UAV airspace visualization control method. The processing flow of this method may include the following steps: When loading electronic map data, the visualization elements in the map used to represent UAVs, flight paths, mission areas, and airspace ranges are uniformly objectified to obtain map spatial objects. Specifically, map spatial objects include at least point objects representing UAV positions, line objects representing flight paths, polygon objects representing mission areas (describing the spatial range involved when the UAV performs a specific mission) and airspace ranges (representing areas where restrictions are imposed on UAV flight activities), and strip or three-dimensional area objects representing permitted flight corridors or altitude constraints. Each map spatial object is assigned a unique map object identifier during its corresponding display and management process, and its geometric information, display attributes, and interactive attributes are maintained. Simultaneously with the creation of map spatial objects, a corresponding control object record is synchronously generated for each map spatial object upon detecting a map spatial object creation event. The control object record describes the control entity related to actual UAV control, mission scheduling, or airspace management, and includes at least a control object identifier, control object type, and an associated operational status reference entry. A one-to-one correspondence is established between the control object identifier and the map object identifier of the map spatial object, and the association is stored through a mapping table or index structure. When the electronic map completes initialization or map features change dynamically during operation, the corresponding control object synchronization operation is performed on newly added, updated, or removed map spatial objects to ensure that the map spatial objects and control object records remain consistent. For map spatial objects representing UAVs, their corresponding control object records are associated with at least the UAV equipment identifier; for map spatial objects representing flight routes or mission areas, their corresponding control object records are associated with at least the mission identifier or flight route identifier; for map spatial objects representing airspace extents, their corresponding control object records are associated with at least the airspace rule identifier or airspace constraint parameters. After the above mapping relationship is established, when an operator performs interactive operations such as point selection, box selection, dragging, or editing on any map spatial object in the electronic map interface, the map spatial object being operated on is first determined based on the location coordinates that triggered the interaction, and the map object identifier corresponding to that map spatial object is read. Subsequently, through the mapping relationship, the map object identifier is resolved into a unique control object identifier, thereby accurately converting the map interaction operation into a control request for a specific control object. The above method achieves a stable mapping relationship between map spatial objects and control objects, enabling any map interaction operation to uniquely and definitively point to the corresponding control object, providing a unified and reliable object foundation for subsequent pre-run state acquisition, executability determination, acceptance processing, and control command issuance.

[0012] Based on the established control object records, a set of pre-defined pre-operational state types is predefined for each control object. Specifically, the pre-operational state types include at least the following: control permission status (obtained by reading permission management configuration or control allocation records, representing the current control ownership and operable scope of the control object); communication link status (obtained by reading communication monitoring results or device-reported information, representing the current link connectivity, availability, or communication quality of the control object); task status (obtained by reading task scheduling records); operating mode status (obtained by reading device operating status reports); and status update time information reflecting the age of the above types of states. These pre-operational states are logically independent but all are associated with the same control object identifier. Pre-operational state data is obtained from the corresponding data sources according to the different sources of the pre-operational state types. Each type of state data is accompanied by corresponding collection time information during acquisition. The acquired pre-operational state data is then processed in a structured manner. Specifically, each piece of pre-operation status data is uniformly organized into a status record item containing a controlled object identifier, a status type identifier, a status value, and a status update time. The status value represents the specific value of the corresponding status type at the current moment, and its form can be an enumerated identifier, a Boolean identifier, or a numerical type. The status update time information represents the latest update time of the status record item. After organizing the status record items, the status record items belonging to the same controlled object are grouped according to the controlled object identifier to form a set of pre-operation statuses that centrally describes the various pre-operation conditions associated with the controlled object at the current moment. This set serves as the basis for subsequent time validity screening, status consistency comparison, and executability determination. During the operation of the controlled object, when any pre-operation status is updated, the updated status is recorded according to the same data structure and replaced or appended to the corresponding pre-operation status set of the controlled object, thereby ensuring that the pre-operation status set can continuously reflect the latest operating conditions of the controlled object. The above methods enable unified acquisition and structured storage of information related to the control object's control authority status, communication link status, task status, operating mode status, and status update time, providing a complete and traceable data foundation for subsequent judgment and control processing based on the pre-operation status.

[0013] Based on the established set of pre-operational states corresponding to the controlled objects, to address the inconsistency caused by differences in acquisition time, update frequency, and reliability of pre-operational state data from different sources, this embodiment sequentially performs time validity filtering and state consistency comparison processing on the pre-operational state set, thereby generating a time-consistent state snapshot that accurately reflects the current controllable conditions. Specifically, the pre-operational state set is received and parsed. The pre-operational state set consists of multiple pieces of pre-operational state data from different sources. Each piece of pre-operational state data is represented using a unified data structure, including at least a controlled object identifier for uniquely identifying the associated controlled object, a state type identifier for distinguishing state categories, a state value for representing the current state value, an acquisition time for reflecting the generation time of the state data, and a source identifier for identifying the source of the state data. Through this unified structure, pre-operational state data from different sources and of different types can be compared and filtered within the same processing flow. After receiving the pre-operational state data, for each piece of pre-operational state data in the set, its corresponding acquisition time information is read, and a preset valid time range in the database corresponding to that state type or source is obtained. The valid time range is used to define the acceptable valid interval of this type of status data in the time dimension. Then, the current system time is subtracted from the acquisition time to obtain the acquired duration of the pre-run status data, which is used to determine whether the pre-run status data is still within the valid time range. When the acquired duration of a pre-run status data exceeds its corresponding valid time range, the status data is considered to have lost its reference significance for the current control conditions and is marked as expired, thus not entering the subsequent status consistency comparison process to avoid interference from outdated states in the judgment results. When the acquired duration of a pre-run status data is still within its corresponding valid time range, the pre-run status data is marked as valid. For pre-run status data marked as valid, the acquisition time of the pre-run status data is compared with a preset reference time, which represents the time base on which the current status judgment is based. When the time difference between the reference time and the sampling time is less than a preset time difference threshold in the database, the pre-running state data is considered to meet the consistency requirements in the time dimension and is marked for inclusion in the consistency comparison. When the time difference between the reference time and the sampling time is not less than the time difference threshold, the pre-running state data is marked as not included in the consistency comparison, but its valid state identifier is still retained for use in other processing scenarios. State consistency comparison processing is performed on the pre-running state data marked for inclusion in the consistency comparison. Specifically, the pre-running state data is classified according to state type. For multiple pre-running state data with the same state type but different sources, their corresponding state values ​​are compared.When inconsistencies exist in state values ​​from different sources, the system selects the pre-defined source priority or trust weight rules pre-set by the operator during system initialization. The data with the highest source priority or trust weight is chosen as the state data used in this processing. The remaining unselected pre-running state data is marked as conflicting or pending, for subsequent auditing, backtracking, or auxiliary analysis. After completing the above state consistency comparison, the pre-running state data selected through time validity filtering and consistency comparison are aggregated according to the control object identifier. This constructs a time-consistent state set, corresponding one-to-one with each control object, to centrally describe the currently valid and consistent pre-running state of each control object under the same time benchmark. A corresponding state snapshot identifier is generated for each time-consistent state set to uniquely identify the result of a state filtering and comparison process. This yields a time-consistent state snapshot that accurately reflects the current controllable conditions, providing a stable and reliable state foundation for subsequent map-based interactive operation intent determination.

[0014] When an operator triggers an operation request through map interaction, an operation intent corresponding to that request is generated. The specific generation steps are as follows: When the operator performs an interactive operation on the electronic map interface, an operation request is triggered. The operation request includes the following basic information: interaction type (such as point selection, box selection, dragging, etc.), interaction location coordinates (representing the location selected by the operator on the map, such as drone location, flight path location, etc.), and trigger time information (representing the timestamp of the operation request being initiated). Based on the interaction location coordinates, the map spatial object associated with the operation request is located in the electronic map. Map spatial objects include various map elements, such as drones, flight paths, mission areas, or airspace ranges. Through precise coordinate matching, the map spatial object selected by the operator is determined, and based on the identifier of the map spatial object, the control object identifier, i.e., the specific control object associated with the map spatial object, is read. For example, if the operator selects a drone location, the coordinates of that location are mapped to the corresponding drone control object. The interaction type is parsed to determine the operator's operation intent. Each interaction type (such as point selection, box selection, drag and drop, etc.) is associated with a specific operation category. After parsing the interaction type in the operation request, the operation category corresponding to the interaction type is obtained according to the preset interaction mapping rules in the database. Operation categories may include task assignment, flight path modification, airspace management, etc. After parsing the interaction type, operation parameters related to the operation category are extracted, specifically including but not limited to the drone's flight trajectory, flight altitude, task area boundaries, task scheduling time parameters, and task priority. According to the interaction type and its mapping rules, relevant operation parameters are extracted, and these operation parameters are used to determine the specific execution content of the operation. When the operator's map interaction operation request involves multiple map spatial objects, the control object identifiers of each map spatial object are aggregated. For example, if the operator selects multiple drones or multiple task areas for operation, the control object identifier of each map spatial object needs to be read, and all control object identifiers are aggregated to form a target control object identifier set. This set is used for the generation and processing of subsequent operation intentions. A structured operation intention is generated by combining the aggregated control object identifier set, the parsed operation category, the extracted operation parameters, and the trigger time information to generate a structured data format for subsequent operation processing. The generated operational intent includes key information such as the target control object, operation type, operation parameters, and operation trigger time. This information will serve as the basis for subsequent executability determination and task scheduling.

[0015] After generating the operational intent, based on the time-consistent state snapshot corresponding to the operational intent and combined with the airspace constraints loaded in the electronic map, the executability of the operational intent is determined, and a determination result containing the executability conclusion, the reason for the restriction, and the acceptance strategy is generated. The specific process is as follows: For the set of target control object identifiers contained in the operational intent, time-consistent state snapshots corresponding to each control object are obtained. The time-consistent state snapshot includes at least the control permission status, communication link status, task status, and operating mode status used to describe the current controllable conditions of the control object. Based on the operation category and operation parameters contained in the operational intent, the spatial range, temporal range, and altitude range associated with this operational intent are determined. Specifically, the spatial range is determined based on the flight trajectory or mission area boundary contained in the operation parameters. When the operation parameters include a flight trajectory, the path range covered by the flight trajectory and its pre-stored safety buffer are used as the spatial range. The time range is determined based on the task scheduling time parameter in the operation parameters. When the operation parameters include a clear task start time, end time, or duration, the corresponding time range is directly generated using the time parameters. When the operation parameters do not explicitly specify an end time, the operation trigger time is used as the start time, and the default execution duration preset in the database is added to the start time to obtain the end time. The time interval corresponding to the start time and the end time is used as the time range. The altitude range is determined based on the flight altitude included in the operation parameters, combined with the preset flight altitude safety tolerance in the database. The minimum allowable flight altitude is obtained by subtracting the flight altitude safety tolerance from the flight altitude, and the maximum allowable flight altitude is obtained by adding the flight altitude safety tolerance to the flight altitude. The altitude interval corresponding to the minimum allowable flight altitude and the maximum allowable flight altitude is used as the altitude range.

[0016] After obtaining the spatial, temporal, and altitude ranges associated with the operational intent, the spatial range data already loaded in the electronic map is retrieved. By comparing the spatial range, temporal constraints, or altitude constraints described by the spatial ranges, spatial ranges that intersect with the range determined by the operational intent are selected. Specifically, for spatial ranges, the spatial boundaries of the spatial range associated with the operational intent are geometrically determined. When the two overlap, contain, or intersect in the map's planar projection, the spatial ranges are deemed to meet the intersection condition in the spatial dimension. For temporal ranges, the time range associated with the operational intent is intersected with the effective time range of the spatial range. When the time intervals of the two intersect, the spatial ranges are deemed to meet the intersection condition in the temporal dimension. For altitude ranges, the altitude range associated with the operational intent is numerically intersected with the altitude constraint intervals of the spatial range. When the altitude intervals of the two overlap, the spatial ranges are deemed to meet the intersection condition in the altitude dimension. After completing the above comparison, if the airspace range meets the intersection condition with the range associated with the operational intent in at least one dimension, or meets the intersection condition in multiple dimensions simultaneously, the airspace range is determined to be associated with the operational intent and included in the subsequent acquisition and verification scope of airspace constraint parameters. If the airspace range does not meet the intersection condition in any dimension, the airspace range is excluded from the airspace constraint verification scope of this operational intent. The airspace constraint parameters contained in the corresponding airspace range are then read. Airspace constraint parameters describe the restrictions imposed by the airspace range on flight behavior, mission execution, or control operations.

[0017] After extracting status information and acquiring spatial constraint parameters, the control permission status, communication link status, task status, operating mode status, and constraint parameters of each spatial range are sequentially subjected to joint condition verification. Specifically, based on preset permission allocation rules, it is checked whether the operator is within the control permission range corresponding to the current task. If the operator's permission range covers the target area of ​​the current operation, the control permission status meets the execution requirements, and a judgment flag indicating that the execution requirements are met is returned; otherwise, the reason for the restriction of the control permission is returned, and it is determined that the condition does not meet the execution requirements. Real-time status data of the communication link, including signal strength and delay duration, is acquired. If the signal strength is greater than or equal to the minimum allowable signal strength in the spatial range constraint parameters and the delay duration is less than or equal to the maximum allowable delay duration in the spatial range constraint parameters, the communication link is determined to be stable, thus meeting the execution requirements. Otherwise, the reason for the restriction of the communication link is returned, and it is determined that the execution requirements are not met. The status of the task of the current controlled object is checked. If the status of the task of the current controlled object is consistent with the spatial rule requirements in the spatial range constraint parameters (e.g., the task is in execution mode and the task area is within the allowable spatial range), it is determined that the execution requirements are met. Otherwise, return the reason for the task status restriction and determine that the execution requirement is not met. Check the current operating mode of the UAV. If the current operating mode of the UAV is consistent with the operating mode requirement in the airspace range constraint parameters (e.g., the current operating mode of the UAV is in standby mode and the operating mode requirement in the airspace range constraint parameters is also standby mode), then the execution requirement is met. Otherwise, return the reason for the operating mode status restriction and determine that the execution requirement is not met. The determination flag is used to indicate whether the joint condition meets the execution requirement, including two states: meeting the execution requirement and not meeting the execution requirement.

[0018] After completing all joint condition checks, the generated judgment identifiers are summarized and statistically analyzed. If the statistical results show that all joint check items are determined to meet the execution requirements, the executability conclusion of this operation intention is determined to be allowed to execute. If at least one joint check in the statistical results is determined to not meet the execution requirements, the executability conclusion of this operation intention is determined to be not immediately executable. When there are joint check items that do not meet the execution requirements, they are classified and organized according to the predefined restriction cause collection rules in the database. The restriction cause collection rules include at least the following: first-level classification according to the running pre-state type to which the joint check item belongs (to distinguish whether the restriction source belongs to control permission restriction, communication link restriction, task status restriction, or running mode status restriction); second-level classification according to the constraint source corresponding to the joint check item under the same running pre-state type (to distinguish whether the restriction is caused by the state of a specific controlled object or by a specific spatial range rule); and detailed classification according to the judgment conditions that trigger the joint check failure under the same constraint source (to distinguish the specific restriction triggering situation). After completing the above classification, joint verification items belonging to the same classification result are merged into a single restriction cause record, and a corresponding restriction cause identifier is generated for this record. Each restriction cause record records at least the associated control object identifier, the associated airspace range identifier (if present), the type of pre-run state that triggered the restriction, the corresponding constraint source, and the judgment condition information that caused the restriction. All generated restriction cause records are summarized to form a restriction cause set corresponding to the current operational intent, used to structurally describe all constraint factors that prevent the immediate execution of the operational intent. The executability conclusion field and the restriction cause set are used as input conditions to query the pre-configured acceptance strategy decision table. By matching the combination of executability conclusion and restriction cause, the acceptance strategy type corresponding to the current operational intent is obtained, indicating the execution method for subsequent acceptance processing. To differentiate the processing of operational intents under different executability judgment results, multiple acceptance strategy types are predefined. Acceptance strategy types include at least immediate acceptance strategy, queuing acceptance strategy, preemptive acceptance strategy, and rejection acceptance strategy. The three strategies are as follows: Immediate acceptance: Allows the current operational intent to directly enter the control execution phase if all execution conditions, including control authority, communication link, operating mode, and airspace constraints, are met. Queuing: Allows the current operational intent to enter the waiting queue if it does not yet meet the immediate execution conditions, and will be accepted when the conditions are met. Preemptive acceptance: Adjusts the existing control relationship to give the current operational intent an execution opportunity if preset priority rules or emergency conditions are met. Deny acceptance: Denies the current operational intent if it does not meet the execution conditions and there is no feasible alternative path.By differentiating between different acceptance strategy types, operational intentions can be processed according to unified rules in scenarios with multiple concurrent operators and dynamically changing states, avoiding execution anomalies caused by duplicate issuance, control conflicts, or inconsistent states. The executability conclusion, the set of limiting reasons, and the acceptance strategy type are combined to form a structured data result, which serves as the determination result for this operational intention. This determination result is used in subsequent acceptance processing flows and can also be used to provide clear feedback to the operator in the map interaction interface.

[0019] After determining the executability of the operational intent and identifying the acceptance strategy type, the operational intent enters the acceptance processing stage. An acceptance status flag is initialized for the current operational intent to characterize its current processing status in the acceptance process. This flag indicates whether the operational intent is allowed to enter the control execution stage in subsequent processes. Based on the acceptance strategy type, the corresponding acceptance processing flow is executed. When the acceptance strategy type is immediate acceptance, a control acquisition request is initiated to the corresponding control object based on the target control object identifier set. The control acquisition request requests control execution permissions for the target control object at the current moment to avoid conflicts from other concurrent operations on the same control object. After initiating the control acquisition request, the processing result information returned for the request is received. The processing result indicates whether the control acquisition request was successfully completed and whether the current control object has been acquired or is eligible to enter the control execution stage. When the acceptance strategy type is queuing acceptance, the operational intent is written to the acceptance queue corresponding to the target control object. The acceptance queue is used to manage multiple operational intents targeting the same control object sequentially. During the process of writing the operation intent into the acceptance queue, a corresponding queue position identifier is assigned to the operation intent, and the valid time information related to the operation intent is recorded. This information is used to limit the waiting time and expiration conditions of the operation intent in the queue, thereby forming the acceptance queue registration result. When the acceptance strategy type is a preemptive acceptance strategy, a control switch request for the target control object is generated. The control switch request is used to adjust the current control occupancy status according to preset priority rules when there is existing control occupancy. Specifically, the priority attribute of the operation intent is compared with the current control occupancy status. When the preemption condition is met, the original control occupancy is released or adjusted, and the control authority is switched to the control object corresponding to the current operation intent, thereby obtaining the corresponding control adjustment result. When the acceptance strategy type is a rejection acceptance strategy, it is determined that the current operation intent does not meet the conditions for entering the acceptance processing flow under the current operating conditions. In this case, the control occupancy application, queuing processing, or control adjustment operation is not executed. Instead, a rejection acceptance result is directly generated, which includes at least the rejection reason, the control object involved, the available object, and whether there is an alternative operation path, to clearly indicate that the operation intent is rejected from entering the subsequent control execution stage. After completing any of the above acceptance processing steps, the return result generated by the control occupancy request, the acceptance queue registration result generated by the acceptance queue writing, the control right adjustment result generated by the control right switching process, or the rejection acceptance result directly generated by the rejection acceptance policy, will all be output as the acceptance processing result corresponding to the operation intent. The acceptance processing result is used to subsequently determine whether the operation intent meets the conditions for entering the control execution stage and serves as the basis for updating the acceptance status identifier. The processing return identifier is read from the acceptance processing result, and based on the processing return identifier, it is determined whether the operation intent meets the preset conditions for entering the control execution stage.The preset conditions include at least whether the control occupancy request was successfully completed, whether the queuing and scheduling were completed and the operation was rotated to an executable position, or whether the control adjustment was successfully completed. When the processing return indicator meets the preset conditions, the acceptance status indicator corresponding to the operation intention is updated to the acceptance passed status indicator, indicating that the operation intention has met the conditions to enter the control execution stage. When the processing return indicator does not meet the preset conditions, the acceptance status indicator corresponding to the operation intention is updated to the non-accepted status indicator, indicating that the operation intention failed to complete the acceptance processing under the current operating conditions. The acceptance status indicator only includes the acceptance passed status indicator or the non-accepted status indicator, which is used as the basis for determining control execution and result feedback in subsequent processes. When the acceptance status indicator indicates that the operation intention is in the non-accepted status, the non-accepted status is associated with the previously generated restriction reason and the current acceptance status information, and acceptance result output data for display on the map interactive interface is generated accordingly, so as to provide feedback to the operator on the current operation intention's non-accepted status and corresponding reason in the map interface. When the acceptance status indicator shows that the operation intent has been accepted, the system generates control command data matching the operation intent based on the operation category and parameters recorded in the operation intent. This control command data is then sent to the control execution unit corresponding to the target controlled object to trigger the actual control action. For example, suppose an operator selects a drone mission through a map interface. The specific operation category is flight path adjustment, and the operation parameters include new flight path coordinates and new flight altitude limits. The target controlled object is drone A, and the drone's pre-operation status includes a current task status of "in execution," a control permission status of "authorized," and a stable communication link status. Based on these, the system generates control command data according to preset rules and the requirements of the current task. Specifically, the control command data includes the following: Control object identifier, a unique identifier associated with the target controlled object, i.e., drone A; Operation category, the operation category extracted from the operation intent, specifically flight path adjustment; Operation parameters, including new flight path coordinates and flight altitude limits, specifically: the flight altitude from coordinate point A to coordinate point B cannot exceed 300 meters. The system verifies whether the operator has sufficient permissions to perform this operation. If the selected area is not included within the scope of permissions, the system returns the reason for the control permission restriction. It checks the communication link status of the flight path. If the link quality is not up to standard, the system returns the reason for the communication link restriction. It verifies whether the task status is in progress. If the task is not in progress, the flight path cannot be modified, and the system returns the reason for the task status restriction. After ensuring all verifications pass, the system generates the following control command: Flight Path Adjustment, adjusting the flight path from coordinate A to coordinate B, with a maximum flight altitude of 300 meters. This command is sent to the control execution unit of the target control object, UAV A, and will guide the UAV to execute the task according to the new flight path and altitude.

[0020] After control commands are generated and issued, their execution status is continuously acquired and tracked. Specifically, execution result data reflecting the execution status of control commands is obtained by listening to execution feedback information associated with the controlled object. Execution result data includes at least whether the command was received, whether execution was completed, and status change information returned during execution, characterizing the actual execution status of the control command on the controlled object side. After acquiring the execution result of the control command, it is associated and parsed with the corresponding operation intent and controlled object identifier. Based on the status change content reflected in the execution result, it is identified whether the pre-running status related to the controlled object has been updated. For example, when a control command is successfully executed, the corresponding task status, running mode status, or control permission status changes; when a control command fails or is partially executed, the corresponding running status remains unchanged or enters an abnormal state. The status change information corresponding to the execution result is written back to the pre-running status set associated with the controlled object. Specifically, the status record items related to the execution result in the pre-running status set are updated or replaced, and the corresponding status update time information is recorded to ensure that the pre-running status set reflects the latest operating conditions of the controlled object at the current moment. After updating the pre-operation state set, the status quo of the corresponding map spatial object in the electronic map is synchronized based on the updated pre-operation state set. Specifically, according to the updated task status, operating mode status, or control permission status, the display attributes, interactive attributes, or status indicators of the map spatial object are adjusted to ensure that the status quo information presented on the map is consistent with the actual operating status of the controlled object. Through the above steps, a closed-loop write-back mechanism between the control command execution result and the pre-operation state set is realized, and the updated operating status is reflected in the map status display in real time. This allows operators to intuitively perceive the execution result of the control command and the latest status of the controlled object through the map interface, thereby providing accurate basis for subsequent operational decisions and command and dispatch.

[0021] This invention also provides a map-interactive UAV airspace visualization control system, such as... Figure 2The diagram shows the structure of a UAV airspace visualization control system based on map interaction provided in this embodiment of the invention. It includes: a map spatial object management module, used to establish map spatial objects for UAVs, flight routes, mission areas, and airspace ranges in an electronic map, and to establish corresponding control object records for each map spatial object, enabling map interaction operations to be uniquely mapped to the corresponding control object; a pre-operation state acquisition and storage module, used to acquire pre-operation states related to the control object, including at least control permission status, communication link status, task status, operation mode status, and status update time information, and storing them in a unified structure as a set of pre-operation states for the control object; a status snapshot generation module, used to perform time validity filtering on the set of pre-operation states, and then perform status consistency comparison to generate a time-consistent status snapshot reflecting the current controllable conditions; and an operation intent generation and judgment module, used to generate a corresponding operation intent when an operator triggers an operation request for the control object through map interaction, and based on the time-consistent status snapshot and combined with airspace constraints, to determine the executability of the operation intent, generating a judgment result including an executability conclusion, the reason for the restriction, and the acceptance strategy. The acceptance processing and instruction issuance module is used to execute acceptance processing according to the acceptance strategy, determine the acceptance status identifier based on the acceptance processing result, and when the acceptance status identifier indicates that the operation intention has been accepted, generate control instructions based on the operation intention and issue them to the controlled object. The execution result write-back and situation synchronization module is used to obtain the execution result of the control instruction and write the execution result back to the controlled object to update the pre-run state set, and synchronously update the situation information in the map based on the updated pre-run state set.

[0022] like Figure 3 As shown, the left-hand online list of the operation interface of the airborne rapid response command platform according to an embodiment of the present invention can display all online drones, individual drones, and drones bound to airports. The online airport list displays all airports bound to the current team. Users can move the map to the coordinates of a specified airport by clicking the yellow button and open the airport's operation pop-up window. In addition, the online personnel list displays all personnel logged into the system within the current team (including PC and mobile users). Figure 4 , Figure 5The images show the airport list and the airport pop-up window that appear when clicking on the airport list, representing the operation interface of the airborne rapid response command platform according to an embodiment of the present invention. Clicking the yellow button in the airport list opens the airport's operation pop-up window, where you can view the airport's live broadcast. Clicking the operation button opens the operation panel. After obtaining airport operation rights, the airport enters a remote debugging mode, allowing operations such as turning on lights, doors, drones, and charging (the airport cannot perform tasks after entering debugging mode). Clicking the one-click takeoff button automatically sends the drone inside the cabin flying directly above the airport. Clicking the return-to-home button returns the drone in operation to its home location with one click. When an aircraft in the airport is online, you can also view the aircraft's live broadcast and control the aircraft and gimbal. Figure 6 As shown, the left-hand warning list of the operation interface of the airborne rapid response command platform involved in this embodiment of the invention displays warning information for various urban anomalies automatically generated based on UAV monitoring and intelligent analysis. It can automatically identify and classify warnings for abnormal urban operations such as smoke, slow traffic on highways, traffic accidents, and fires, and push corresponding handling suggestions in conjunction with big data analysis technology. This allows command personnel to grasp the urban operational safety situation immediately and achieve rapid response and precise dispatching of emergency response personnel. Figure 7 The image shows the search bar of the airborne rapid response command platform according to an embodiment of the present invention. Located at the top of the interface, the search bar allows users to enter keywords (such as place names, location names, etc.) into the input box. The system will automatically display a drop-down suggestion list, showing relevant addresses or locations matching the input. When the user clicks the search button on the right and selects the target address from the drop-down list, the system will automatically locate the selected result on the map, enabling rapid retrieval and precise positioning of the target area.

[0023] like Figure 8 The image shows the intelligent recommendation bar of the operation interface of the airborne rapid response command platform according to an embodiment of the present invention. After clicking the intelligent recommendation button on the right side of the interface, the user can directly mark points on the map to set the coordinates of the mission target point. After setting, the system will automatically pop up a list of nearby online airports and display detailed information of all currently online airports, including key parameters such as airport name, battery level, and distance. The user can browse the list according to the mission requirements and click the corresponding green recommendation button to send the commanded flight mission to the selected airport with one click. After receiving the mission command, the drone will automatically take off from the airport and fly to the preset mission target point.

[0024] like Figure 9The image shows the map control bar of the operation interface of the airborne rapid response command platform involved in this embodiment of the invention. It is used to flexibly configure the map display effect, support layer management (satellite, road network, traffic conditions), view switching (2D / 3D) and map zooming, and adapt to the needs of police drone missions such as geographic information viewing, route planning, and scene analysis, helping to accurately grasp the regional situation.

[0025] like Figure 10 , Figure 11 The images shown are a separate display of the live streaming section and a pop-up window for sharing the live stream. They demonstrate that the online live stream also has a sharing function; clicking the share button allows the live stream to be shared with logged-in users within the same team. The airport (e.g., the college airport) displays the associated drone, airport status (remote debugging), battery level (90%), and location (inside the cabin). Online personnel (e.g., liu_zq) are shown, displaying the currently logged-in user to assist in collaborative work. The middle area is the video monitoring area, loading real-time footage from the drone / airport. Clicking the video icon (camera style) in the left-hand device bar brings up the corresponding device's view (e.g., the remote debugging view from airport B1). The top of the screen displays device information (airport name, status, battery level, etc.), and the bottom displays environmental data (Ethernet speed, rainfall, wind speed, temperature, and humidity). The multi-view preview area supports switching and full-screen viewing; clicking the thumbnail focuses on a single device's view. The right-hand control area provides drone control functions. After gaining control of the drone, click to request operation. Once successful, you can use buttons such as flight and gimbal to perform actions such as takeoff and landing, direction adjustment, and camera tilt. One-click return to home is used for emergency drone recall, and emergency stop can forcibly abort flight to deal with unexpected risks. The DRC connection status is displayed to indicate the network status; if the connection is lost, a connection restoration must be initiated. The right-hand map area marks airport locations, using geographic information to assist in task planning. Clicking to switch to the cabin allows you to switch to an internal airport view, supplementing the scene monitoring dimension.

[0026] like Figure 12 The image shows the interface for adding a new planned task in the task management of the airborne rapid response command platform according to an embodiment of the present invention. Clicking the "Select Route" button allows you to select a planned route in the pop-up window (e.g., a newly created route at 11:22 AM on June 30, 2025). After confirmation, the route information is loaded onto the page, displaying a route map preview. Clicking the "Select Device" button allows you to select the device to perform the task (e.g., the college airport, ensuring the device is online) to guarantee the task execution conditions. You can choose to execute immediately (the task starts immediately after submission) or a scheduled task (the execution time needs to be added, and it will automatically trigger at the designated time). Configure the drone's actions in case of loss of connection, including options such as return to home (automatically returning to the take-off and landing point), hovering (maintaining position in the air), and continuing execution (attempting to reconnect before execution) to handle network anomalies. After confirming the parameters are correct, click "OK" to add the new task plan into the system; to abandon the task, click "Cancel" to exit the addition process.

[0027] like Figure 13 The image shown is the flight record details interface of the airborne rapid response command platform involved in this embodiment of the invention. It is used for in-depth review of UAV missions, integrating mission execution information (take-off and landing time, flight distance), equipment status (battery level, temperature and humidity), real-time trajectory (map display), and image data (full video recording, waypoint photos). It supports comprehensive tracing of the mission process and assists in analyzing mission efficiency and equipment performance.

[0028] The above description is only an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A UAV airspace visualization control method based on map interaction, characterized in that, The method includes: In the electronic map, map spatial objects are created for drones, flight routes, mission areas and airspace ranges, and corresponding control object records are created for each map spatial object, so that map interactive operations can be uniquely mapped to the corresponding control object. Obtain the pre-running states related to the controlled object. The pre-running states include at least the control permission state, communication link state, task state, running mode state, and state update time information, and store them in a unified structure as a set of pre-running states of the controlled object. The time validity of the set of pre-run states is filtered, and then the state consistency is compared to generate a time-consistent state snapshot that reflects the current controllable conditions. When an operator triggers an operation request for the controlled object through map interaction, a corresponding operation intent is generated. Based on the time-consistent state snapshot and combined with spatial constraints, the executability of the operation intent is determined, and a determination result including an executability conclusion, the reason for the limitation, and the acceptance strategy is generated. The acceptance process is executed according to the acceptance strategy. The acceptance status identifier is determined based on the acceptance process result. When the acceptance status identifier indicates that the operation intention has been accepted, a control instruction is generated according to the operation intention and sent to the control object. The execution result of the control command is obtained and written back to the control object to update the pre-run state set. Based on the updated pre-run state set, the situation information in the map is updated synchronously.

2. The UAV airspace visualization control method based on map interaction as described in claim 1, characterized in that, The specific steps for filtering the time validity of the pre-run state set are as follows: Receive a set of pre-running status data consisting of multiple pre-running status data from different sources; The pre-run status data includes at least the control object identifier, status type, status value, collection time, and source identifier; For each piece of pre-run status data, its collection time and preset valid time range are read, and the collection duration of each piece of pre-run status data is calculated based on the current system time. When the collection time of a certain pre-run status data exceeds the corresponding valid time range, the pre-run status data is marked as expired and will not enter the status consistency comparison process. When the collected duration of a certain pre-run status data does not exceed the corresponding valid time range, the pre-run status data is marked as valid. The collection time of the pre-run status data is compared with the preset reference time. When the time difference between the two is less than the preset time difference threshold, the pre-run status data is marked as included in the consistency comparison; otherwise, it is marked as not included in the consistency comparison.

3. The UAV airspace visualization control method based on map interaction as described in claim 1, characterized in that, The process of performing state consistency comparison and generating a time-consistent state snapshot reflecting the current controllable conditions is as follows: Consistency comparison is performed on the pre-running state data that have the same state type but different sources and are included in the consistency comparison. When the corresponding state values ​​in the pre-running state data are inconsistent, the state data to be used for this processing is selected according to the preset source priority or trusted weight rules, and the unselected pre-running state data is marked as conflict state or pending state. Based on the pre-running state data after completion time validity screening and consistency comparison, a time-consistent state set corresponding to the controlled object is constructed, and a state snapshot identifier corresponding to the time-consistent state set is generated, thereby obtaining a time-consistent state snapshot reflecting the current controllable conditions.

4. The UAV airspace visualization control method based on map interaction as described in claim 1, characterized in that, When an operator triggers an operation request for the controlled object through map interaction, a corresponding operation intent is generated. The specific generation steps are as follows: Receive map interaction operation requests generated by the operator in the electronic map interface, wherein the map interaction operation request includes at least the interaction type, interaction location coordinates and trigger time information; Based on the interaction location coordinates, locate the map spatial object associated with the map interaction operation request in the electronic map, and read the control object identifier corresponding to the map spatial object; The interaction type of the map interaction operation request is parsed, and the operation category corresponding to the interaction type is obtained according to the preset interaction mapping rules, and then the operation parameters related to the operation category are extracted. When the map interaction operation request involves multiple map spatial objects, the control object identifiers corresponding to each map spatial object are read and summarized to form a target control object identifier set. The target control object identifier set, the operation category, the operation parameters, and the trigger time information are combined to generate a structured operation intent.

5. The UAV airspace visualization control method based on map interaction as described in claim 1, characterized in that, Based on the time-consistent state snapshot and combined with spatial constraints, the feasibility of the operation intention is determined, and a determination result including the feasibility conclusion, the reason for the restriction, and the acceptance strategy is generated. The specific steps are as follows: For the target control object identifier set, obtain the time-consistent status snapshot corresponding to each control object, and extract control permission status, communication link status, task status, and running mode status information; Based on the operation category and operation parameters, determine the spatial range, temporal range, and altitude range associated with the intent of this operation; Retrieve the airspace range data loaded on the electronic map, filter the airspace ranges that intersect with the spatial range, time range or altitude range, and obtain the constraint parameters of each airspace range; The extracted control permission status, communication link status, task status, and running mode status are sequentially subjected to joint condition verification with each spatial range constraint parameter. Based on preset judgment conditions, a judgment identifier is generated for each joint verification. The judgment identifier includes those that do not meet the execution requirements and those that meet the execution requirements. The set of judgment identifiers for all joint condition checks is statistically analyzed to determine the executability of the intended operation. Based on the set of judgment identifiers, generate the corresponding executability conclusion field, and use it together with the set of restriction reasons as input to query the preset acceptance strategy decision table and output the corresponding acceptance strategy type; The acceptance strategy types include immediate acceptance strategy, queued acceptance strategy, preemptive acceptance strategy, and rejection strategy. The feasibility conclusion, the reasons for the limitation, and the acceptance strategy type are combined into structured data to generate the determination result of the intention of this operation.

6. The UAV airspace visualization control method based on map interaction as described in claim 5, characterized in that, The set of judgment identifiers for all joint condition checks is used to determine the executability of the intended operation. The specific process is as follows: The set of judgment identifiers for all joint condition checks is statistically analyzed. All joint check items that are judged to meet the execution requirements are statistically analyzed. If all joint check items meet the execution requirements, the executability conclusion of this operation intention is determined to be that execution is allowed. If some joint verification items are not met, the executability conclusion is determined to be that it cannot be executed immediately. At the same time, the joint verification items that are determined to not meet the execution requirements are combined into a set of restriction reasons according to their type, constraint source and verification content. The control object, spatial range and judgment conditions corresponding to the verification content are written into the set of restriction reasons.

7. The UAV airspace visualization control method based on map interaction as described in claim 1, characterized in that, The process involves performing acceptance processing according to the acceptance strategy, determining an acceptance status identifier based on the acceptance processing result, and when the acceptance status identifier indicates that the operation intention has been accepted, generating a control command based on the operation intention and issuing it to the controlled object. The specific steps are as follows: Initialize the acceptance status identifier of the stated operation intention; The acceptance process is executed according to the acceptance strategy type, and the acceptance processing result is obtained to update the acceptance status identifier; The acceptance status identifier includes an acceptance passed status identifier or an acceptance not passed status identifier; When the acceptance status indicator indicates that the operation intention is in the acceptance passed state, the operation category and operation parameters are parsed based on the operation intention, control instruction data corresponding to the operation intention is generated, and the control instruction data is sent to the control execution unit corresponding to the target control object; When the acceptance status indicator indicates that the operation intention is not accepted, the not accepted status is associated with the corresponding restriction reason and the current acceptance status information and recorded to generate acceptance result output data for display on the map interactive interface.

8. The UAV airspace visualization control method based on map interaction as described in claim 7, characterized in that, The specific steps for performing acceptance processing according to the acceptance strategy type are as follows: When the acceptance strategy type is an immediate acceptance strategy, a control occupancy request is initiated to the control object corresponding to the target control object identifier set, and the control occupancy request return result is received; When the acceptance strategy type is a queuing acceptance strategy, the operation intention is written into the acceptance queue corresponding to the target control object, and the queue position identifier and valid time information corresponding to the operation intention are recorded to form the acceptance queue registration result. When the acceptance strategy type is a preemptive acceptance strategy, a control switching request is generated, and the current control occupancy status is adjusted according to the preset priority rules to obtain the control adjustment result; When the acceptance strategy type is a rejection strategy, the process of controlling the application, queuing, or adjusting control rights will not be entered, and a rejection result will be generated directly. The result of the control occupancy request, the result of the acceptance queue registration, the result of the control adjustment, or the result of the rejection are output as the acceptance processing result corresponding to the operation intention.

9. The UAV airspace visualization control method based on map interaction as described in claim 7, characterized in that, The specific steps for obtaining the acceptance processing result to update the acceptance status identifier are as follows: Read the processing return identifier from the acceptance processing result, and determine whether the operation intention meets the preset conditions for entering the control execution stage based on the processing return identifier. The preset conditions include at least whether the control occupancy application is successful, whether the queuing scheduling is completed, or whether the control right adjustment is completed. When the processing return identifier corresponding to the acceptance processing result meets the preset condition, the acceptance status identifier corresponding to the operation intention is updated to the acceptance passed status identifier; When the processing return identifier in the acceptance processing result does not meet the preset condition, the acceptance status identifier corresponding to the operation intention is updated to the status identifier of not being accepted.

10. A map-interactive UAV airspace visualization control system, characterized in that, The system includes: The map spatial object management module is used to create map spatial objects for drones, flight routes, mission areas and airspace in the electronic map, and to create corresponding control object records for each map spatial object, so that map interactive operations can be uniquely mapped to the corresponding control object. The pre-run state acquisition and storage module is used to acquire the pre-run states related to the controlled object. The pre-run states include at least control permission state, communication link state, task state, running mode state and state update time information, and store them in a unified structure as a set of pre-run states of the controlled object. The state snapshot generation module is used to filter the time validity of the set of pre-run states, and then compare the state consistency to generate a time-consistent state snapshot that reflects the current controllable conditions. The operation intent generation and judgment module is used to generate a corresponding operation intent when the operator triggers an operation request for the controlled object through map interaction. Based on the time-consistent state snapshot and combined with spatial constraints, the module performs an executability judgment on the operation intent and generates a judgment result including an executability conclusion, the reason for the restriction, and the acceptance strategy. The acceptance processing and instruction issuance module is used to perform acceptance processing according to the acceptance strategy, determine the acceptance status identifier based on the acceptance processing result, and when the acceptance status identifier indicates that the operation intention has been accepted, generate a control instruction according to the operation intention and issue it to the controlled object. The execution result write-back and situation synchronization module is used to obtain the execution result of the control command and write the execution result back to the control object to update the pre-run state set, and synchronously update the situation information in the map based on the updated pre-run state set.

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