Method and device for generating low-altitude aircraft landing site, and storage medium

Abstract

This application provides a method, device, and storage medium for generating a low-altitude aircraft takeoff and landing area. The low-altitude aircraft arrival and departure area includes a touchdown / takeoff positioning circle, a safety zone, and an obstacle restriction zone. The obstacle restriction zone is funnel-shaped and includes a conical platform area and a cylindrical area connected in sequence. The method includes: acquiring the aircraft's technical parameters; determining the minimum outer circle diameter of the aircraft based on the technical parameters; and determining the areas of the touchdown / takeoff positioning circle, the safety zone, and the obstacle restriction zone based on the minimum outer circle diameter and a preset geometric ratio. The preset geometric ratio is the ratio between the diameter of the touchdown / takeoff positioning circle, the ring width of the safety zone, the bottom diameter of the conical platform area, and the top diameter of the conical platform area. By using the minimum outer circle diameter of the aircraft as the core, the area of ​​the low-altitude aircraft arrival and departure area is determined, resulting in a reasonable layout, saving area, and improving space utilization.

Description

Technical Field

[0001] This invention relates to the field of low-altitude transportation technology, and more specifically, to a method, equipment, and storage medium for generating low-altitude aircraft take-off and landing sites. Background Technology

[0002] With the rapid development of low-altitude transportation, the demand for vertical takeoff and landing (VTOL) aircraft infrastructure is showing a significant upward trend, leading to an urgent need for specialized takeoff and landing site design methods. Currently, existing takeoff and landing site designs mainly follow the design standards of traditional helicopter landing pads. However, traditional helicopter landing pad designs, based on the operational characteristics of helicopters, need to consider factors such as taxiing operations, ground space occupancy, and conical airspace occupancy, and are determined according to specific terrain and usage requirements. Existing design methods often employ fixed geometric boundaries and standardized airspace protection zones, making it difficult to flexibly adapt to the diverse operational needs and flight characteristics of different types of VTOL aircraft. VTOL aircraft differ from traditional helicopters in flight paths, propulsion methods, airspace requirements, and noise characteristics, and the standardized design of traditional landing pads cannot fully consider these differentiated needs, potentially leading to suboptimal airspace resource allocation and insufficient space utilization efficiency.

[0003] Current methods for generating low-altitude aircraft take-off and landing sites result in each aircraft occupying too much space, which cannot meet the high-density node layout requirements of low-altitude traffic and affects the safe landing and omnidirectional approach and departure of aircraft. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a method, equipment and storage medium for generating low-altitude aircraft take-off and landing sites, so as to solve the problem that the existing low-altitude aircraft approach and departure areas occupy too much space, which affects the safe landing and omnidirectional approach and departure of aircraft.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: In a first aspect, embodiments of this application provide a method for generating a low-altitude aircraft takeoff and landing site, applied to a low-altitude aircraft arrival and departure area. The low-altitude aircraft arrival and departure area includes a ground / departure positioning circle, a safety zone, and an obstacle restriction zone. The ground / departure positioning circle is a circular area parallel to the ground. The safety zone is annularly arranged around the ground / departure positioning circle and is parallel to the ground. The bottom of the obstacle restriction zone is annularly arranged around the safety zone. The obstacle restriction zone is funnel-shaped and includes a conical platform area and a cylindrical area connected in sequence. The top of the cylindrical area extends vertically away from the ground. The method is executed by a computer and includes: acquiring the technical parameters of the aircraft; determining the minimum outer diameter of the aircraft based on the technical parameters; and determining the areas of the ground / departure positioning circle, the safety zone, and the obstacle restriction zone based on the minimum outer diameter and a preset geometric ratio. The preset geometric ratio is the ratio between the diameter of the ground / departure positioning circle, the ring width of the safety zone, the bottom diameter of the conical platform area, and the top diameter of the conical platform area.

[0006] Furthermore, the aircraft is a single-rotor aircraft, and its technical parameters include the rotor diameter. Based on the technical parameters, the minimum circumscribed circle diameter of the aircraft is determined, including: obtaining the rotor diameter of the single-rotor aircraft; and using the rotor diameter as the minimum circumscribed circle diameter of the aircraft.

[0007] Furthermore, the aircraft is a multi-rotor aircraft, and its technical parameters include rotor configuration. Based on the technical parameters, the minimum circumscribed circle diameter of the aircraft is determined, including: determining the center position coordinates of each rotor based on the rotor configuration; calculating the minimum diameter of the circumscribed circle connecting the centers of each rotor based on the center position coordinates of each rotor; and using the minimum diameter of the circumscribed circle connecting the centers of each rotor as the minimum circumscribed circle diameter of the aircraft.

[0008] Furthermore, the aircraft is a composite rotorcraft, and its technical parameters include rotor configuration and fuselage dimensions. The minimum circumscribed circle diameter of the aircraft is determined based on the technical parameters, including: calculating the minimum rotor envelope diameter based on the rotor configuration; calculating the minimum fuselage envelope diameter based on the fuselage dimensions; and determining the minimum circumscribed circle diameter of the aircraft based on the relationship between the minimum rotor envelope diameter and the minimum fuselage envelope diameter.

[0009] Furthermore, based on the rotor envelope circle and the fuselage envelope circle, the minimum circumscribed circle diameter of the aircraft is determined, including: if the minimum rotor envelope circle diameter is greater than the minimum fuselage envelope circle diameter, the minimum rotor envelope circle diameter is taken as the minimum circumscribed circle diameter of the aircraft; if the minimum rotor envelope circle diameter is less than the minimum fuselage envelope circle diameter, the minimum fuselage envelope circle diameter is taken as the minimum circumscribed circle diameter of the aircraft; if the minimum rotor envelope circle diameter is equal to the minimum fuselage envelope circle diameter, either the minimum fuselage envelope circle diameter or the minimum rotor envelope circle diameter is taken as the minimum circumscribed circle diameter of the aircraft.

[0010] Furthermore, the obstacle restriction zone includes a conical platform area and a cylindrical area connected in sequence. The conical platform area has a bottom opening and a top opening. The diameter of the bottom opening is smaller than the diameter of the top opening. The bottom opening connects to the periphery of the safety zone. The cylindrical area has a cylindrical opening that is connected to the top opening.

[0011] Furthermore, the bottom opening has a bottom diameter, the top opening has a top diameter, and the diameter of the cylinder opening is equal to the top diameter. Based on the minimum circumscribed circle diameter and a preset geometric ratio, the areas of the grounding / off-ground positioning circle, the safety zone, and the obstacle restriction zone are calculated, including: obtaining preset first proportional coefficients k1, second proportional coefficient k2, third proportional coefficient k3, and fourth proportional coefficient k4 in the preset geometric ratio; calculating the diameter of the grounding / off-ground positioning circle based on the minimum circumscribed circle diameter and the first proportional coefficient k1; determining the area of ​​the grounding / off-ground positioning circle based on its diameter; calculating the ring width of the safety zone based on the minimum circumscribed circle diameter and the second proportional coefficient k2; determining the area of ​​the safety zone based on its ring width; calculating the bottom diameter of the conical platform area based on the minimum circumscribed circle diameter and the third proportional coefficient k3; calculating the top diameter of the conical platform area based on the minimum circumscribed circle diameter and the fourth proportional coefficient k4; and determining the lateral area of ​​the conical platform area based on its bottom and top diameters.

[0012] Furthermore, the ratio between the first proportionality coefficient k1, the second proportionality coefficient k2, the third proportionality coefficient k3, and the fourth proportionality coefficient k4 is 1.5:0.25:2:4.

[0013] Furthermore, each point on the conical truncated area located at the top opening has a first vertical line segment between itself and the ground, and each point on the conical truncated area located at the bottom opening has a second vertical line segment perpendicular to each other with its corresponding first vertical line segment; wherein, the length of the first vertical line segment is equal to the length of the second vertical line segment.

[0014] Furthermore, the lengths of both the first and second vertical line segments are equal to the diameter of the smallest circumcircle.

[0015] Secondly, embodiments of this application also provide 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 method provided in the above embodiments.

[0016] Thirdly, embodiments of this application also provide a computer-readable storage medium storing a computer program that can be executed by a processor to perform the methods provided in the above embodiments.

[0017] Fourthly, embodiments of this application also provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the methods provided in the above embodiments.

[0018] The beneficial effects of the embodiments of the present invention are: First, the low-altitude aircraft approach and departure area provided in this application embodiment is set as a ground / ground-leaving positioning circle, a safety zone, and an obstacle restriction zone, and the shape of the obstacle restriction zone is set as a funnel shape. Through reasonable layout, the efficiency of airspace use is improved.

[0019] Secondly, the method for generating low-altitude aircraft takeoff and landing sites provided in this application establishes a standardized design parameter system. This system uses the minimum circumscribed circle diameter when the rotor of a vertical takeoff and landing (VTOL) aircraft is fully deployed as the core to determine the areas of the touchdown / takeoff positioning circle, safety zone, and obstacle restriction zone. This reduces the space occupancy rate of each aircraft, improves the space utilization rate of the low-altitude aircraft arrival and departure area, and further reduces resource waste. Furthermore, this method has low computational complexity and high generation efficiency, enabling rapid generation of various low-altitude aircraft arrival and departure areas in low-altitude regions, achieving precise aircraft positioning, safe landing, and omnidirectional arrival and departure. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0021] Figure 1 This is a front view of the approach and departure area of ​​a low-altitude aircraft, as shown in an embodiment of this application. Figure 2 This is a top view of the approach and departure area of ​​a low-altitude aircraft as shown in an embodiment of this application; Figure 3 This is a schematic diagram of the main flow of a method for generating a low-altitude aircraft take-off and landing site, as shown in an embodiment of this application. Figure 4 This is a schematic flowchart illustrating the method for determining the minimum circumscribed circle diameter in a method for generating a low-altitude aircraft take-off and landing site according to an embodiment of this application. Figure 5This is a flowchart illustrating the determination of the minimum circumscribed circle diameter in a method for generating a low-altitude aircraft take-off and landing site, as shown in another embodiment of this application. Figure 6 This is a flowchart illustrating the determination of the minimum circumscribed circle diameter in a method for generating a low-altitude aircraft take-off and landing site, as shown in other embodiments of this application. Figure 7 This is a schematic flowchart illustrating the process of determining the area of ​​the grounding / flight positioning circle, safety zone, and obstacle restriction zone in a method for generating a low-altitude aircraft take-off and landing site according to an embodiment of this application. Figure 8 This is a flowchart illustrating the process of determining the lateral area of ​​a conical platform in a method for generating a low-altitude aircraft take-off and landing site, as shown in one embodiment of this application. Detailed Implementation

[0022] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0024] like Figure 1-2 As shown, the low-altitude aircraft approach and departure area includes the Landing / Leaving Positioning Circle (TLPC), the Safety Zone (SA), and the Obstacle Restriction Zone (OLS).

[0025] The Landing / Off-Ground Positioning Circle (TLPC) is the core takeoff and landing area of ​​an aircraft, and is a circular area parallel to the ground.

[0026] The safety zone SA is located around the grounding / off-ground positioning circle TLPC, and the safety zone SA is a ring-shaped area parallel to the ground.

[0027] The Safety Zone (SA) is a specific area located around the Ground / Off-Ground Positioning Circle (TLPC) and serves as a protective buffer zone to reduce the danger caused by accidental deviation of an aircraft from the TLPC.

[0028] The bottom of the obstacle restriction zone (OLS) is located around the periphery of the safety zone (SA), and the obstacle restriction zone (OLS) is funnel-shaped. The obstacle restriction zone (OLS) includes a conical platform area (ADS) and a cylindrical area (OEC) connected in sequence. The top of the cylindrical area (OEC) extends vertically away from the ground.

[0029] This application embodiment sets the obstacle restriction zone (OLS) to a funnel shape, and combines it with the ground-to-ground positioning circle (TLPC) and safety zone (SA) parallel to the ground, so that the overall approach and departure area of ​​low-altitude aircraft presents a funnel-shaped structure. Compared with the existing rectangular or polygonal layout, it uses less area, can make more effective use of limited land resources, save the area of ​​the approach and departure area, and improve airspace utilization efficiency.

[0030] like Figure 3 As shown, this application embodiment provides a method for generating a low-altitude aircraft take-off and landing site, the method including steps S110-S130: Step S110: Obtain the technical parameters of the aircraft.

[0031] In step S110 above, the technical parameters may include data such as the aircraft's fuselage dimensions, rotor configuration, weight characteristics, landing gear configuration, and navigation system configuration.

[0032] In one embodiment, the aforementioned technical parameters are obtained by setting up a data acquisition module.

[0033] In another embodiment, the technical parameters of the different aircraft can be stored in a preset database in advance. When designing a take-off and landing field for a certain aircraft, the corresponding data of the corresponding type of aircraft can be retrieved directly from the preset database.

[0034] Step S120: Determine the minimum circumscribed circle diameter D of the aircraft based on the technical parameters.

[0035] In step S120 above, the minimum circumscribed circle diameter D refers to the diameter of the smallest circumscribed circle that can effectively cover the fuselage among all the circumscribed circles when the aircraft rotor rotates and its folding structure is fully unfolded. Through the above technical parameters, the minimum circumscribed circle diameter D corresponding to different types of aircraft can be determined.

[0036] Step S130: Determine the areas of the ground / off-ground positioning circle TLPC, the safety zone SA, and the obstacle restriction zone OLS based on the minimum circumscribed circle diameter D and the preset geometric ratio.

[0037] In step S130 above, based on the minimum circumscribed circle diameter D and the preset geometric ratio, and the above geometric ratio can be adapted to small multi-rotor UAVs and large vertical take-off and landing eVTOL (electric vertical take-off and landing aircraft), all adopt the same geometric ratio. Through the standardized geometric ratio based on different minimum circumscribed circle diameters D, the spatial layout of each functional area of ​​the take-off and landing point is efficiently determined.

[0038] The preset geometric ratio is the ratio between the diameter of the ground / off-ground positioning circle TLPC, the ring width of the safety zone SA, the bottom diameter M1 of the conical platform area ADS, and the top diameter M2 of the conical platform area ADS.

[0039] This application embodiment constructs a standardized design parameter system through the above-described method for generating low-altitude aircraft take-off and landing sites. Using the minimum circumscribed circle diameter D of a vertical take-off and landing (VTOL) aircraft rotor when fully deployed as the core, it determines the area (i.e., size) of the touchdown / take-off positioning circle (TLPC), the safety zone (SA), and the obstacle restriction zone (OLS). This significantly improves the space utilization of low-altitude aircraft arrival and departure areas compared to traditional helicopter landing sites, reducing resource waste. Furthermore, the method provided in this application is adaptable to various types of aircraft, such as multi-rotor UAVs, eVTOLs, and vertical take-off and landing flying cars, offering flexibility and meeting the standardized take-off and landing requirements of aircraft of different sizes. It also features low computational complexity and high generation efficiency, enabling rapid and accurate generation of various low-altitude aircraft arrival and departure areas, achieving precise aircraft positioning, safe landing, and omnidirectional arrival and departure.

[0040] In one embodiment, such as Figure 4 As shown, the aircraft is a single-rotor aircraft, and its technical parameters include rotor diameter. The above step S120 includes sub-steps S121-S122: Sub-step S121: Obtain the rotor diameter of the single-rotor aircraft.

[0041] Sub-step S122: Use the rotor diameter as the minimum circumscribed circle diameter D of the aircraft.

[0042] In the above steps, for a conventional configuration of a single-rotor vertical takeoff and landing aircraft, i.e., a single-rotor aircraft, only its rotor diameter needs to be obtained to obtain the minimum circumscribed circle diameter D. This is because when the rotor of a single-rotor aircraft is fully deployed, it just covers the entire fuselage outline. Since the overall structure of the single-rotor aircraft fuselage needs to be included within a minimum safety envelope circle in order to avoid collisions with obstacles or other aircraft during takeoff and landing, the diameter of the circle generated when the rotor is fully deployed and rotating is equal to the rotor diameter, and thus becomes the minimum circumscribed circle that can completely surround the overall structure of the single-rotor aircraft.

[0043] In another embodiment, such as Figure 5 As shown, the aircraft is a multi-rotor aircraft, and its technical parameters include rotor configuration. The above step S120 includes sub-steps S121'-S123': Sub-step S121': Determine the center position coordinates of each rotor according to the rotor configuration.

[0044] In the above embodiments, the rotor configuration includes the number of rotors such as quadcopters, hexacopters, octocopters, and multi-rotors.

[0045] Sub-step S122': Calculate the minimum diameter of the circumcircle of the line connecting the centers of each rotor based on the center position coordinates of each rotor.

[0046] In one embodiment, in the above sub-step S122', calculating the minimum diameter of the circumcircle of the line connecting the centers of each rotor requires knowing the coordinates of the center position (center of the circle) and the coordinates of any point on the circle. The radius can be calculated based on the minimum circumcircle algorithm, and then the minimum diameter can be calculated according to the diameter calculation formula.

[0047] Sub-step S123': Take the minimum diameter of the circumcircle of the line connecting the centers of each rotor as the minimum circumcircle diameter D of the aircraft.

[0048] In substep S123', among all the circumcircles in the multirotor aircraft, the circumcircle containing the smallest diameter of the circumcircle connecting the centers of each rotor can include the entire area swept by the rotor and the outermost edge of the fuselage under any configuration, thus reducing the waste of space. Therefore, the smallest diameter of the circumcircle connecting the centers of each rotor is taken as the smallest circumcircle diameter D of the aircraft.

[0049] In other embodiments, such as Figure 6 As shown, the aircraft is a hybrid rotorcraft, and its technical parameters include rotor configuration. The above step S120 includes sub-steps S121”-S123”: Sub-step S121”: Calculate the minimum rotor envelope diameter of the aircraft based on the rotor configuration.

[0050] In the above sub-step S121”, rotor configuration is used to indicate the number of rotors contained in an aircraft such as a drone.

[0051] The rotor envelope is the tip circle of all rotor blades in an aircraft. (That is, the circles swept out by the tips of all the rotor blades as they rotate) After all are put together, their outer contours are enclosed by a single smallest circle. This smallest circle is called the rotor envelope, usually represented by the circular area formed by the rotor rotation, and is used to determine whether the rotor has collided with an obstacle. The diameter of the aforementioned smallest circle is the minimum rotor envelope diameter. .

[0052] Based on the rotor configuration, the rotor envelope circle of the aircraft is calculated. First, the airframe plane coordinate system is established, and the rotor configuration determines the center position coordinates. The distribution of rotors is such that the center position coordinates of each rotor are recorded according to the rotor configuration. and rotor blade radius Then solve for all the pointed spheres. The diameter of the smallest circumcircle, i.e., the diameter of the smallest rotor envelope circle. Specifically, hybrid rotorcraft include single-rotor aircraft and multi-rotor aircraft.

[0053] In one embodiment, the minimum rotor envelope diameter for a single-rotor aircraft It is twice the rotor radius.

[0054] In one embodiment, for the minimum rotor envelope diameter of a multirotor aircraft The minimum circumcircle can be calculated using the above method. A set of minimum circumcircles is obtained using a preset minimum circumcircle algorithm, which is ( , The values ​​of the minimum circumcircle and the center coordinates of each rotor are given above. and rotor blade radius Substituting into the pre-defined mathematical model, all the sprue tip circles are obtained. The minimum value of the radius of the minimum circumcircle.

[0055] The pre-defined mathematical model can be:

[0056] Based on the above mathematical model, the minimum value of the rotor blade radius is obtained, and then the calculation formula is used. Obtain all the pointed tips The diameter of the smallest circumcircle is obtained, which is the diameter of the smallest rotor envelope circle. .

[0057] Sub-step S122”: Calculate the minimum fuselage envelope diameter of the aircraft based on the fuselage dimensions.

[0058] In the above sub-step S122”, the body envelope circle represents the outer circle of the aircraft body part, usually represented by the smallest outer circle of the body frame or the entire system, which is used to simplify the overall shape description of the aircraft and facilitate obstacle avoidance trajectory planning and collision detection.

[0059] In one embodiment, the maximum length L and width W of the aircraft fuselage can be projected onto a horizontal plane to form several key points. The fuselage can then be simplified into a rectangle with a length of L and a width of W in the horizontal plane. The diagonal of the rectangle can be calculated and used as the diameter of the smallest circumcircle.

[0060] In another embodiment, the minimum body envelope diameter can be calculated by establishing a body coordinate system. This calculation method can be obtained by consulting existing materials and will not be described in detail here.

[0061] Sub-step S123”: Based on the minimum rotor envelope diameter The relationship between the minimum airframe envelope diameter and the minimum circumscribed circle diameter is used to determine the minimum circumscribed circle diameter D of the aircraft.

[0062] In one embodiment, the above-mentioned sub-step S123 further includes: If the minimum rotor envelope diameter Larger than the minimum airframe envelope diameter, the minimum rotor envelope diameter D is the minimum circumscribed circle diameter of an aircraft.

[0063] If the minimum rotor envelope diameter If the minimum airframe envelope diameter is smaller than the minimum airframe envelope diameter, then the minimum airframe envelope diameter is taken as the minimum circumscribed circle diameter D of the aircraft.

[0064] If the minimum rotor envelope diameter Equal to the minimum airframe envelope diameter, or the minimum rotor envelope diameter. D is the minimum circumscribed circle diameter of an aircraft.

[0065] Because composite rotorcraft include two or more different rotor layouts, the above steps, by comprehensively considering the aircraft's rotor configuration, fuselage dimensions and other technical parameters, as well as the possible attitude changes that may occur during takeoff and landing, and the slight tilting or deviation that vertical takeoff and landing aircraft may experience when approaching the ground due to ground effect, airflow, or operational needs, can ensure that the minimum outer circle diameter D of the aircraft can cover the maximum space occupancy of the aircraft in all motion states.

[0066] In one embodiment, the Landing / Leaving Positioning Circle (TLPC) is a circular marker used to determine the landing and takeoff positions of a vertical takeoff and landing aircraft. Its center point is O, and it is in the form of a disk, used as a bearing area to set the vertical takeoff and landing point.

[0067] In one embodiment, the Obstacle Restriction Zone (OLS) includes a conical platform area (ADS) and a cylindrical area (OEC) connected in sequence. The conical platform area (ADS) has a bottom opening and a top opening, with the diameter of the bottom opening being smaller than the diameter of the top opening. The bottom opening connects to the periphery of the safety area (SA). The cylindrical area (OEC) has a cylindrical opening that communicates with the top opening. The Obstacle Restriction Zone (OLS) is a set of three-dimensional obstacle restriction surfaces composed of the outer boundary (periphery) of the safety area (SA), the conical platform area (ADS), and the cylindrical area (OEC). The top of the cylindrical area (OEC) extends vertically upwards to the departure altitude. The Landing / Leaving Positioning Circle (TLPC), the safety area (SA), and the Obstacle Restriction Zone (OLS) provide complete airspace protection. Any object penetrating the outer restriction surface of the Obstacle Restriction Zone (OLS) is considered an obstacle and requires safety assessment or removal during site selection or aircraft operation. An unobstructed space is formed between the interior of the Obstacle Restriction Zone (OLS) and the Landing / Leaving Positioning Circle (TLPC) and the safety area (SA).

[0068] In another embodiment, the Obstacle Restriction Zone (OLS) can be configured as a functional area formed by the outer boundary of the Safety Zone (SA) extending vertically away from the ground and away from the vertical line perpendicular to the ground / landing positioning circle (TLPC) to a certain height, and then extending vertically away from the ground and parallel to the vertical line perpendicular to the ground / landing positioning circle (TLPC) to the departure altitude. The ground / landing positioning circle (TLPC), the Safety Zone (SA), and the Obstacle Restriction Zone (OLS) form a three-dimensional space above the vertical take-off and landing point to protect the operation of the aircraft.

[0069] In one embodiment, the bottom opening has a bottom diameter M1, the top opening has a top diameter M2, and the diameter of the cylinder opening is equal to the top diameter M2, such as... Figure 7 As shown, step S130 above includes sub-steps S131-S136, wherein there is no specific order between sub-steps S132-S133, sub-steps S134-S135, and sub-steps S136-S138. Sub-step S131: Obtain the preset first proportional coefficient k1, second proportional coefficient k2, third proportional coefficient k3 and fourth proportional coefficient k4 in the preset geometric proportional relationship.

[0070] In sub-step S131, the preset geometric proportions are stored in a preset database. All types of aircraft are configured to use the same geometric proportions, that is, the first proportional coefficient k1, the second proportional coefficient k2, the third proportional coefficient k3 and the fourth proportional coefficient k4 are all the same. The difference is that the minimum circumscribed circle diameter D will be flexibly adjusted according to the different types of aircraft.

[0071] Sub-step S132: Calculate the diameter of the grounding / off-ground positioning circle TLPC based on the minimum circumscribed circle diameter D and the first proportional coefficient k1.

[0072] In the above sub-step S132, the product of the minimum circumscribed circle diameter D and the first proportional coefficient k1 is calculated and used as the diameter of the grounding / off-ground positioning circle TLPC, that is, it is used as the diameter of the grounding / off-ground positioning circle.

[0073] Sub-step S133: Determine the area of ​​the grounding / off-ground positioning circle TLPC based on its diameter.

[0074] In sub-step S133, the area of ​​the grounding / off-ground positioning circle TLPC is calculated according to the diameter of the grounding / off-ground positioning circle TLPC obtained in sub-step 132 above, following the method for calculating the area of ​​a circle.

[0075] Sub-step S134: Calculate the ring width of the safety zone SA based on the minimum circumscribed circle diameter D and the second proportionality coefficient k2.

[0076] In the above sub-step S134, the product of the minimum circumscribed circle diameter D and the second proportional coefficient k2 is calculated and used as the ring width of the safety zone SA.

[0077] Sub-step S135: Determine the area of ​​the safe zone SA based on the ring width of the safe zone SA.

[0078] In the above sub-step S135, the safety zone SA can be set around the grounding / off-ground positioning circle TLPC. It is a concentric annular area formed by the product of the minimum outer circle diameter D and the second proportional coefficient k2, extending outward from the outer perimeter of the grounding / off-ground positioning circle. That is, the margin of the above product is added omnidirectionally to the outer perimeter of the grounding / off-ground positioning circle. Based on the needs of risk management and emergency response, it provides additional safety margin for aircraft take-off and landing operations under normal circumstances, and can provide necessary buffer space in abnormal situations during aircraft operation.

[0079] Therefore, determining the area of ​​the safety zone SA based on its ring width also includes: calculating the first area obtained by adding the grounding / off-ground positioning circle TLPC to the safety zone SA based on the sum of the ring width of the safety zone SA and the grounding / off-ground positioning circle TLPC, and the formula for calculating the area of ​​the circle, and then subtracting the area of ​​the grounding / off-ground positioning circle TLPC to determine the area of ​​the safety zone SA.

[0080] Sub-step S136: Calculate the bottom diameter M1 of the conical frustum ADS based on the minimum circumscribed circle diameter D and the third proportionality coefficient k3.

[0081] In the above sub-step S136, the product of the minimum circumscribed circle diameter D and the third proportional coefficient k3 is calculated and used as the bottom diameter M1 of the conical truncated area ADS.

[0082] Sub-step S137: Calculate the top surface diameter M2 of the conical frustum region ADS based on the minimum circumscribed circle diameter D and the fourth proportionality coefficient k4.

[0083] In the above sub-step S137, the product of the minimum circumscribed circle diameter D and the fourth proportional coefficient k4 is calculated and used as the top surface diameter M2 of the conical truncated area ADS.

[0084] Sub-step S138: Determine the lateral area S of the conical frustum region ADS based on the bottom diameter M1 and the top diameter M2.

[0085] Combination Figure 1-2 ,like Figure 8 As shown, in the above sub-step S138, the lateral area S of the conical frustum region ADS is determined based on the bottom diameter M1 and the top diameter M2, including sub-steps S1381-S1385: Sub-step S1381: Determine the base radius N1 of the conical frustum ADS based on the base diameter M1 of the conical frustum ADS.

[0086] Sub-step S1382: Determine the top surface radius N2 of the conical truncated area ADS based on the top surface diameter M2.

[0087] Sub-step S1383: Obtain the height H1 of the conical platform area ADS.

[0088] In one embodiment, in the above sub-step S1383, each point on the conical pediment ADS located at the top opening has a first vertical line segment between itself and the ground, and the length of the first vertical line segment is equal to the minimum circumscribed circle diameter D. The height of the conical pediment ADS is parallel to the first vertical line segment, and the height H1 of the conical pediment ADS is equal to the first vertical line segment, which is D.

[0089] Sub-step S1384: Determine the oblique height H2 of the conical platform based on the height H1 of the conical platform area ADS.

[0090] In the above sub-step S1382: Based on the height H1 of the conical platform area ADS and the preset slope height calculation formula, the slope height H2 of the conical platform is determined, which can be calculated using the following formula:

[0091] Sub-step S1385: Based on the sloping height H2 of the conical frustum, the base radius N1, and the top radius N2, obtain the lateral surface area S of the conical frustum region ADS. The lateral surface area S of the conical frustum region ADS can be calculated using the following formula:

[0092] In one embodiment, the ratio between the first proportional coefficient k1, the second proportional coefficient k2, the third proportional coefficient k3 and the fourth proportional coefficient k4 is 1.5:0.25; 2:4, that is, the preset geometric ratio is 1.5:0.25:2:4.

[0093] In one embodiment, the diameter of the ground / off-ground positioning circle TLPC is 1.5D, the radius of the ground / off-ground positioning circle TLPC is 0.57D, the ring width of the safety zone SA is 0.25D, the bottom diameter M1 of the conical platform area ADS is 2D, and the top diameter M2 of the conical platform area ADS is 4D.

[0094] In one embodiment, each point on the conical platform ADS located at the bottom opening has a second vertical segment perpendicular to each other between it and its corresponding first vertical segment, the length of the first vertical segment being equal to the length of the second vertical segment.

[0095] In one embodiment, the inclined conical surface of the outer side of the conical platform area ADS with a bottom opening has an angle A between it and the ground, wherein the angle can be set to 45°.

[0096] In one embodiment, the length of the second vertical line segment is equal to the diameter D of the smallest circumscribed circle.

[0097] The method for generating low-altitude aircraft takeoff and landing sites provided in this application proposes the concept of a touchdown / takeoff positioning circle. Through a preset geometric ratio, it determines the safety zone (SA) and obstacle restriction zone (OLS), constructing a three-dimensional positioning system for precise takeoff and landing of vertical takeoff and landing (VTOL) aircraft. The touchdown / takeoff positioning circle forms a hierarchical functional area layout with the safety zone (SA) and obstacle restriction zone (OLS) in space, meeting the actual operational requirements of VTOL rotorcraft for precise positioning, safe landing, and omnidirectional approach and departure. Furthermore, compared to the redundant and complex restriction surfaces in traditional helicopter applications, this method is simpler and more efficient, meeting the high-density node layout requirements of low-altitude transportation, significantly reducing computational complexity, and providing support for the large-scale, rapid deployment and standardized construction of low-altitude transportation infrastructure.

[0098] This application also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method provided in the above embodiments.

[0099] This application also provides a computer-readable storage medium storing a computer program that can be executed by a processor to perform any of the methods provided in the above embodiments.

[0100] This application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the method provided in the above embodiments.

[0101] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0102] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0103] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. 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 method for generating a low-altitude aircraft takeoff and landing site, applied to low-altitude aircraft approach and departure areas, characterized in that, The low-altitude aircraft approach and departure area includes a touchdown / takeoff positioning circle, a safety zone, and an obstacle restriction zone. The touchdown / takeoff positioning circle is a circular area parallel to the ground. The safety zone is located around the periphery of the touchdown / takeoff positioning circle and is also a ring-shaped area parallel to the ground. The bottom of the obstacle restriction zone is located around the periphery of the safety zone. The obstacle restriction zone is funnel-shaped and includes a conical pedestal area and a cylindrical area connected in sequence. The top of the cylindrical area extends vertically away from the ground. The method is executed by a computer and includes: Obtain the technical parameters of the aircraft; Based on the aforementioned technical parameters, determine the minimum circumscribed circle diameter of the aircraft; Based on the minimum circumscribed circle diameter and a preset geometric ratio, determine the areas of the grounding / off-ground positioning circle, the safety zone, and the obstacle restriction zone; The preset geometric ratio is the ratio between the diameter of the grounding / off-ground positioning circle, the ring width of the safety zone, the bottom diameter of the conical platform area, and the top diameter of the conical platform area.

2. The method for generating a low-altitude aircraft take-off and landing site according to claim 1, characterized in that, The aircraft is a single-rotor aircraft, and the technical parameters include the rotor diameter. Determining the minimum circumscribed circle diameter of the aircraft based on these technical parameters includes: Obtain the rotor diameter of the single-rotor aircraft; The rotor diameter is taken as the minimum circumcircle diameter of the aircraft.

3. The method for generating a low-altitude aircraft take-off and landing site according to claim 1, characterized in that, The aircraft is a multi-rotor aircraft, and the technical parameters include rotor configuration. Determining the minimum circumscribed circle diameter of the aircraft based on the technical parameters includes: Based on the rotor configuration, determine the center position coordinates of each rotor. Based on the center position coordinates of each rotor, the minimum diameter of the circumcircle of the line connecting the centers of each rotor is calculated; The minimum diameter of the circumcircle of the line connecting the centers of each rotor is taken as the minimum circumcircle diameter of the aircraft.

4. The method for generating a low-altitude aircraft take-off and landing site according to claim 1, characterized in that, The aircraft is a compound-configuration rotorcraft, and the technical parameters include rotor configuration and fuselage dimensions. Determining the minimum circumscribed circle diameter of the aircraft based on the technical parameters includes: Based on the rotor configuration, the minimum rotor envelope diameter of the aircraft is calculated; Based on the aforementioned fuselage dimensions, the minimum fuselage envelope diameter of the aircraft is calculated. The minimum circumscribed circle diameter of the aircraft is determined based on the relationship between the minimum rotor envelope diameter and the minimum fuselage envelope diameter.

5. The method for generating a low-altitude aircraft take-off and landing site according to claim 4, characterized in that, Determining the minimum circumscribed circle diameter of the aircraft based on the rotor envelope circle and the fuselage envelope circle includes: If the minimum rotor envelope diameter is greater than the minimum fuselage envelope diameter, the minimum rotor envelope diameter shall be taken as the minimum circumscribed circle diameter of the aircraft; If the minimum rotor envelope diameter is smaller than the minimum fuselage envelope diameter, the minimum fuselage envelope diameter shall be used as the minimum circumscribed circle diameter of the aircraft; If the minimum rotor envelope diameter is equal to the minimum fuselage envelope diameter, the minimum fuselage envelope diameter or the minimum rotor envelope diameter shall be taken as the minimum circumscribed circle diameter of the aircraft.

6. The method for generating a low-altitude aircraft take-off and landing site according to claim 1, characterized in that, The conical platform area has a bottom opening and a top opening. The diameter of the bottom opening is smaller than the diameter of the top opening. The bottom opening connects to the periphery of the safety area. The cylindrical area has a cylindrical opening that communicates with the top opening.

7. The method for generating a low-altitude aircraft take-off and landing site according to claim 6, characterized in that, The bottom opening has a bottom diameter, the top opening has a top diameter, and the diameter of the cylinder opening is equal to the top diameter. The areas of the ground / off-ground positioning circle, the safety zone, and the obstacle restriction zone are calculated based on the minimum circumscribed circle diameter and a preset geometric ratio, including: Obtain the preset first proportional coefficient k1, second proportional coefficient k2, third proportional coefficient k3 and fourth proportional coefficient k4 in the preset geometric proportional relationship; The diameter of the grounding / off-ground positioning circle is calculated based on the minimum circumscribed circle diameter and the first proportional coefficient k1; the area of ​​the grounding / off-ground positioning circle is determined based on the diameter of the grounding / off-ground positioning circle. The ring width of the safety zone is calculated based on the minimum circumscribed circle diameter and the second proportionality coefficient k2; the area of ​​the safety zone is determined based on the ring width of the safety zone. The bottom diameter of the conical frustum is calculated based on the minimum circumscribed circle diameter and the third proportionality coefficient k3. The top surface diameter of the conical frustum is calculated based on the minimum circumscribed circle diameter and the fourth proportionality coefficient k4. The lateral area of ​​the conical truncated area is determined based on the bottom diameter and the top diameter.

8. The method for generating a low-altitude aircraft take-off and landing site according to claim 7, characterized in that, The ratio between the first proportional coefficient k1, the second proportional coefficient k2, the third proportional coefficient k3, and the fourth proportional coefficient k4 is 1.5:0.25:2:

4.

9. The method for generating a low-altitude aircraft take-off and landing site according to claim 7, characterized in that, Each point on the conical platform located at the top opening has a first vertical line segment between itself and the ground, and each point on the conical platform located at the bottom opening has a second vertical line segment perpendicular to each other with its corresponding first vertical line segment. The length of the first vertical line segment is equal to the length of the second vertical line segment.

10. The method for generating a low-altitude aircraft take-off and landing site according to claim 9, characterized in that, The lengths of the first vertical line segment and the second vertical line segment are both equal to the minimum circumscribed circle diameter.

11. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any one of claims 1-10.

12. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that can be executed by a processor to perform the method described in any one of claims 1-10.

13. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the method of any one of claims 1-10.

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