A method, apparatus, storage medium, and electronic equipment for low-altitude flight path connection planning.

Abstract

This invention proposes a low-altitude flight path connection planning method, apparatus, storage medium, and electronic equipment. The method involves determining the approach azimuth and altitude ranges based on approach voxels; performing contour geometric projection from the vertices of the approach voxels along the radial direction of the takeoff and landing field origin to determine the projection points on the cylindrical surface of the terminal area; constructing an approach connection channel based on the vertices of the approach voxels and their corresponding projection points; and using the approach connection channel as a constraint for flight path planning to obtain the approach connection flight path. The approach connection flight path combines the continuously planned terminal area with the discretely planned free airspace voxels during the approach phase, and completes the geometric mapping and safe transition between discrete voxels and continuous spatial coordinates. At any given time, the approach connection channel can only be allocated to one aircraft, and the occupancy of the channel is released after the aircraft leaves, thus ensuring airspace safety.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) path planning, and more specifically, to a low-altitude flight path connection planning method, apparatus, storage medium, and electronic device. Background Technology

[0002] With the development of the low-altitude economy, high-density low-altitude aircraft operations have become the norm. For large-scale airspace, voxel discretization is required to reduce the state space dimension and achieve efficient and rapid global path search. For airspaces such as low-altitude terminal areas, due to the extremely high requirements for aircraft takeoff and landing accuracy and dynamic smoothness, continuous spatial coordinates must be used for precise path planning. When implementing end-to-end flight planning at takeoff and landing sites, it is necessary to balance high accuracy in the terminal area with the need for rapid path planning. Therefore, continuous and discrete planning must be combined, which requires solving the geometric mapping and safe transition between discrete voxels and continuous spatial coordinates. Summary of the Invention

[0003] The purpose of this invention is to provide a low-altitude flight path connection planning method, apparatus, storage medium, and electronic device to improve the above-mentioned problems.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, embodiments of the present invention provide a low-altitude flight path connection planning method, the method comprising: After determining the approach voxel, the approach azimuth range and approach height range are determined based on the approach voxel; The approach azimuth angle range includes the maximum approach azimuth angle and the minimum approach azimuth angle; the approach height range includes the maximum approach height and the minimum approach height; the approach voxel is any outer boundary voxel in the outer boundary voxel set; the outer boundary voxel is a spatial voxel that intersects with the outer cylindrical surface of the transition region but does not intersect with the obstacle. Along the radial direction of the origin of the take-off and landing field, contour geometric projections are performed from the first vertex, the second vertex, the third vertex, and the fourth vertex to determine the first projection point, the second projection point, the third projection point, and the fourth projection point on the cylindrical surface of the terminal area. Among them, the first vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the maximum height of the incoming field; the second vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the minimum height of the incoming field; the third vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the maximum height of the incoming field; and the fourth vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the minimum height of the incoming field. Construct an entry connection channel based on the first vertex, second vertex, third vertex, fourth vertex, first projection point, second projection point, third projection point, and fourth projection point; The approach connection channel is used as a constraint for route planning to obtain the approach connection route.

[0005] Optionally, the method further includes: emitting a three-dimensional departure ray from the departure point on the cylindrical surface of the terminal area along a predetermined departure trajectory into the outer airspace; The outer boundary voxel intersecting with the departure ray is taken as the departure candidate voxel; When the number of exit candidate voxels is greater than or equal to 2, the exit permission voxel is determined from the multiple exit candidate voxels; Based on the departure permission voxel and the departure point, a departure connection channel is constructed; The departure connection channel is used as a constraint for route planning to obtain the departure connection route.

[0006] Secondly, embodiments of the present invention provide a low-altitude flight path connection planning device, the device comprising: The first processing unit is used to determine the approach azimuth range and the approach height range based on the approach voxel after determining the approach voxel. The approach azimuth angle range includes the maximum approach azimuth angle and the minimum approach azimuth angle; the approach height range includes the maximum approach height and the minimum approach height; the approach voxel is any outer boundary voxel in the outer boundary voxel set; the outer boundary voxel is a spatial voxel that intersects with the outer cylindrical surface of the transition region but does not intersect with the obstacle. The first processing unit is also used to perform contour geometric projection from the first vertex, the second vertex, the third vertex and the fourth vertex along the radial direction of the origin of the take-off and landing field, so as to determine the first projection point, the second projection point, the third projection point and the fourth projection point on the cylindrical surface of the terminal area. Among them, the first vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the maximum height of the incoming field; the second vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the minimum height of the incoming field; the third vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the maximum height of the incoming field; and the fourth vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the minimum height of the incoming field. The first processing unit is also configured to construct an entry connection channel based on the first vertex, the second vertex, the third vertex, the fourth vertex, the first projection point, the second projection point, the third projection point, and the fourth projection point; The second processing unit is used to plan the flight path using the approach connection channel as a constraint to obtain the approach connection flight path.

[0007] Thirdly, embodiments of the present invention provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0008] Fourthly, embodiments of the present invention provide an electronic device, the electronic device comprising: a processor and a memory, the memory being used to store one or more programs; when the one or more programs are executed by the processor, the above-described method is implemented.

[0009] Compared to existing technologies, the present invention provides a low-altitude flight path connection planning method, apparatus, storage medium, and electronic device, comprising: determining the approach azimuth angle range and approach altitude range based on the approach voxels after determining the approach voxels; performing contour geometric projections from the first vertex, second vertex, third vertex, and fourth vertex along the radial direction of the origin of the takeoff and landing field to determine the first projection point, second projection point, third projection point, and fourth projection point on the cylindrical surface of the terminal area; constructing an approach connection channel based on the first vertex, second vertex, third vertex, fourth vertex, first projection point, second projection point, third projection point, and fourth projection point; and performing flight path planning using the approach connection channel as a constraint to obtain the approach connection flight path. The approach connection flight path combines the continuously planned terminal area with the discretely planned free airspace voxels during the approach phase, and completes the geometric mapping and safe transition between discrete voxels and continuous spatial coordinates. It should be understood that at any given time, the approach connection channel can only be allocated to one aircraft, and the aircraft releases the occupancy of the channel after leaving it, thereby ensuring airspace safety.

[0010] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0013] Figure 2 This is one of the flowcharts illustrating the low-altitude flight path connection planning method provided in this embodiment of the invention.

[0014] Figure 3 This is a schematic diagram of the arrival connection channel mapping generation provided in an embodiment of the present invention.

[0015] Figure 4 This is the second flowchart illustrating the low-altitude flight path connection planning method provided in this embodiment of the invention.

[0016] Figure 5 This is a schematic diagram of the departure connection channel mapping generation provided in an embodiment of the present invention.

[0017] Figure 6 This is a schematic diagram of a low-altitude flight path connection planning device provided in an embodiment of the present invention.

[0018] In the diagram: 10-Processor; 11-Memory; 12-Bus; 13-Communication interface; 501-First processing unit; 502-Second processing unit. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0023] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "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 in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and 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 limiting this invention.

[0024] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" 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 mechanical connection or an electrical 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 invention based on the specific circumstances.

[0025] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] This invention provides an electronic device, which can be a central control device for a drone, or a server device, mobile device, or computer device that is communicatively connected to the drone's central control device. Please refer to... Figure 1 A schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12. The processor 10 is used to execute executable modules, such as computer programs, stored in the memory 11.

[0027] Processor 10 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the low-altitude flight path connection planning method can be completed through integrated logic circuits in the hardware or software instructions within processor 10. Processor 10 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0028] The memory 11 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage.

[0029] Bus 12 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. Figure 1 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus 12 or one type of bus 12.

[0030] The memory 11 is used to store programs, such as programs corresponding to a low-altitude flight path connection planning device. The low-altitude flight path connection planning device includes at least one software functional module that can be stored in the memory 11 in the form of software or firmware, or embedded in the operating system (OS) of the electronic device. Upon receiving an execution instruction, the processor 10 executes the program to implement the low-altitude flight path connection planning method.

[0031] The electronic device provided in this embodiment of the invention may further include a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0032] It should be understood that, Figure 1 The structure shown is only a partial schematic diagram of the electronic device; the electronic device may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0033] The low-altitude flight path connection planning method provided in this embodiment of the invention can be applied to, but is not limited to, applications in... Figure 1 For the specific process of the electronic devices shown, please refer to [link / reference]. Figure 2 The low-altitude flight path connection planning methods include: S11-S14, which are described in detail below.

[0034] S11. After determining the approach voxel, determine the approach azimuth range and approach height range based on the approach voxel.

[0035] Among them, the approach azimuth range includes the maximum approach azimuth ( ) and minimum approach azimuth angle ( The entry height range includes the maximum entry height ( ) and minimum entry height ( The incoming voxel is any outer boundary voxel in the set of outer boundary voxels. The outer boundary voxel is the spatial voxel that intersects with the outer cylindrical surface of the transition region but does not intersect with the obstacle.

[0036] The low-altitude terminal area is a precise, continuous coordinate region. The free airspace outside the terminal area uses discrete voxels to store voxel coordinates. A transition region exists between the terminal area and the free airspace for connection. The outer boundary of the terminal area is a circle centered at the origin of the takeoff and landing field with a radius of [missing information]. The height is The cylindrical surface; the boundary of the transition area is the outer boundary of the terminal area, i.e., the cylindrical surface of the terminal area. The outer boundary of the transition area is the origin of the takeoff and landing field with a radius of . The height is The cylindrical surface (i.e., the outer cylindrical surface of the transition region).

[0037] Determine the outer cylindrical surface of the transition region ( If the voxels in the free airspace physically intersect with the three-dimensional axial-aligned bounding boxes (AABBs) of the voxels in the free airspace, extract all intersecting voxels and remove those intersecting with obstacles to form a continuous closed set of outer boundary voxels. .

[0038] S12, along the radial direction of the origin of the take-off and landing field, perform contour geometric projection from the first vertex, the second vertex, the third vertex and the fourth vertex to determine the first projection point, the second projection point, the third projection point and the fourth projection point on the cylindrical surface of the terminal area.

[0039] When performing contour geometric projection, the height remains constant and is perpendicular to the central axis of the cylinder in the terminal area. Corresponding to the radial projection in the figure, the projection point of the i-th vertex on the cylinder surface in the terminal area is the i-th projection point.

[0040] Among them, the first vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth and maximum height of the incoming field; the second vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth and minimum height of the incoming field; the third vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth and maximum height of the incoming field; and the fourth vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth and minimum height of the incoming field.

[0041] The first, second, third, and fourth projection points constitute the access permission window on the cylindrical surface of the terminal area, which is a continuous three-dimensional arc-shaped window. The spatial boundary of this window is strictly defined as: radial distance azimuth ,high .

[0042] S13, construct the entry connection channel based on the first vertex, second vertex, third vertex, fourth vertex, first projection point, second projection point, third projection point and fourth projection point.

[0043] Construct a line connecting the i-th vertex to the i-th projection point to obtain the incoming voxel from the outer boundary. The continuous three-dimensional spatial region extending to the inner three-dimensional curved window constitutes the entry connection channel. The spatial envelope of this entry connection channel in cylindrical coordinates is precisely defined as: azimuth range. Height range Its radial range The inner boundary is The outer boundary is the ingress voxel. The three-dimensional surface at the corresponding azimuth and height.

[0044] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the arrival connection channel mapping generation provided in an embodiment of the present invention.

[0045] S14. The approach connection channel is used as a constraint to plan the route in order to obtain the approach connection route.

[0046] The approach connection route is entirely within the approach connection channel, and the altitude remains unchanged.

[0047] After completing the construction of the arrival connection channel, determine whether the arrival connection channel conflicts with any assigned channel. If a conflict exists, the arrival is suspended or the arrival voxel is changed. If there is no conflict, the arrival connection channel is used as a constraint for route planning to obtain the arrival connection route.

[0048] In the low-altitude flight path connection planning method provided in this embodiment of the invention, the continuously planned terminal area is combined with the discretely planned free airspace voxels during the approach phase through the approach connection flight path, and the geometric mapping and safe transition between the discrete voxels and continuous spatial coordinates are completed. It should be understood that at any given time, the approach connection channel can only be allocated to one aircraft, and the occupation of the channel is released after the aircraft leaves the channel, thereby ensuring airspace safety.

[0049] Building upon the preceding text, this embodiment of the invention also provides an optional implementation method for the content in S11, as detailed below. The approach azimuth angle interval is determined based on the approach voxel, including: S111 to S114, as specifically below.

[0050] S111 extracts all geometric vertices of the 3D physical boundary of the incoming voxel.

[0051] All geometric vertices of the three-dimensional physical boundary can refer to the coordinates of all vertices of a cuboid voxel.

[0052] S112, project all the geometric vertices of the approach voxel onto the horizontal plane corresponding to the origin of the take-off and landing field to obtain the corresponding approach horizontal plane projection point.

[0053] S113, calculate the polar coordinate azimuth of each approach horizontal plane projection point relative to the origin of the take-off and landing field; S114, take the largest approach polar coordinate azimuth as the maximum approach azimuth and the smallest approach polar coordinate azimuth as the minimum approach azimuth, in order to determine the approach azimuth interval.

[0054] Building upon the preceding text, regarding the content in S11, this embodiment of the invention also provides an optional implementation method, please refer to the following. Determining the entry height range based on the entry voxel includes: S115, specifically as follows.

[0055] S115, the height coordinates of the upper boundary of the entering voxel are used as the maximum entering height, and the height coordinates of the lower boundary of the entering voxel are used as the minimum entering height, so as to determine the entering height range.

[0056] The height coordinates of the upper boundary of the incoming voxel are the height of its upper surface, and the height coordinates of the lower boundary of the incoming voxel are the height of its lower surface.

[0057] Regarding how to achieve a seamless departure process, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 4 The low-altitude flight path connection planning method also includes S21 to S25, which are described in detail below.

[0058] S21, a three-dimensional departure ray is emitted from the departure point on the cylindrical surface of the terminal area, along the predetermined departure trajectory into the outer airspace.

[0059] A three-dimensional exit ray is a ray that passes through the exit point, is perpendicular to the central axis of the cylinder in the terminal region, and points outwards. .

[0060] S22, the outer boundary voxel that intersects with the exit ray is taken as the exit candidate voxel.

[0061] Outer boundary voxel set Perform a ray-crossing test (Ray-AABB test) on the 3D bounding boxes (AABBs) of all voxels within the area. Then, perform a ray intersection test on all voxels with the outgoing rays. Boundary voxels that intersect in spatial physics are extracted to form a set of candidate voxels for departure.

[0062] S23, when the number of exit candidate voxels is greater than or equal to 2, determine the exit permission voxel from multiple exit candidate voxels.

[0063] S24, construct the departure connection channel based on the departure permission voxel and departure point.

[0064] S25 uses the departure connection channel as a constraint to plan the flight path in order to obtain the departure connection flight path.

[0065] The departure connection route is entirely within the departure connection channel, and the altitude remains unchanged.

[0066] After constructing the departure connection channel, it is determined whether the departure connection channel conflicts with any already assigned channel. If a conflict exists, departure is suspended or the departure point is changed. If no conflict exists, the departure connection channel is used as a constraint for route planning to obtain the departure connection route. In this embodiment of the invention, when a channel conflict occurs, the arrival / takeoff time of the internal scheduling is adjusted, or the channel is allocated to other idle voxels / circular segments to ensure absolute isolation within the connection channel and zero conflict at the spatial level.

[0067] Building upon the preceding text, regarding the content of S23, this embodiment of the invention also provides an optional implementation method, please refer to the following. Determining the departure permission voxel from multiple departure candidate voxels includes: S231 to S236, specifically described below.

[0068] S231, determine the intersection point of the outgoing ray and the outgoing outer boundary of the outer cylindrical surface of the transition region ( ).

[0069] S232, obtain the distance from the intersection of the outer boundary of the departure field to the center of each departure candidate voxel, and convert it into the spatial distance cost corresponding to each departure candidate voxel.

[0070] S233: Obtain the path deviation angle between the exit ray and the line connecting the exit point to the center of each exit candidate voxel, and convert it into the path deviation angle cost corresponding to each exit candidate voxel.

[0071] The path deviation cost is used to constrain kinematic smoothness.

[0072] S234, obtain the number of obstacle voxels adjacent to each departure candidate voxel, and convert them to obtain the obstacle penalty cost corresponding to each departure candidate voxel.

[0073] A penalty is applied when there is an obstacle voxel in the neighborhood of a candidate voxel to ensure that the selected voxel has a sufficient safety margin. The penalty is related to the number of its neighboring obstacle voxels; the greater the number, the higher the penalty. An obstacle voxel indicates that the voxel intersects with an obstacle and cannot fly.

[0074] S235, based on the spatial distance cost, flight path angle cost, and obstacle penalty cost corresponding to the departure candidate voxels, performs a weighted calculation to obtain the comprehensive cost corresponding to each departure candidate voxel.

[0075] S236, the candidate voxel with the lowest overall cost is determined as the voxel for departure permission.

[0076] The formula for the comprehensive cost of the nth departing candidate voxel is:

[0077] in, Let $\frac{ ... This represents the distance from the intersection of the outer boundary and the center of the nth candidate voxel. This represents the center of the nth departing candidate voxel. Indicates the intersection of the outer boundary and the field. This represents the trajectory deflection angle of the nth departing candidate voxel. This represents the obstacle penalty cost for the nth departing candidate voxel. : These are the weighting coefficients for various parameters calibrated based on the dynamic requirements of the actual operating scenario.

[0078] The conversion method in the embodiments of the present invention may be, but is not limited to, normalization processing.

[0079] In an optional implementation, after selecting the outer boundary voxel intersecting with the departure ray as a departure candidate voxel in S22, the low-altitude flight path connection planning method further includes deleting the departure candidate voxel intersecting with the obstacle.

[0080] After deleting departure candidate voxels that intersect with obstacles, if the number of departure candidate voxels is still greater than or equal to 2, a departure permission voxel is determined from the multiple departure candidate voxels.

[0081] Of course, if there is only one candidate voxel for leaving the field, it can be directly used as the voxel for leaving the field.

[0082] Based on the preceding text, regarding the content of S24, this embodiment of the invention also provides an optional implementation method, please refer to the following. S24, constructing a departure connection channel based on the departure permission voxel and departure point, includes: S241, specifically as follows.

[0083] S241, connect the fifth, sixth, seventh and eighth vertices to the exit point respectively to construct the exit connection channel; Among them, the fifth vertex is the vertex in the departure permission voxel that is simultaneously at the maximum departure azimuth and the maximum departure height, the sixth vertex is the vertex in the departure permission voxel that is simultaneously at the maximum departure azimuth and the minimum departure height, the seventh vertex is the vertex in the departure permission voxel that is simultaneously at the minimum departure azimuth and the maximum departure height, and the eighth vertex is the vertex in the departure permission voxel that is simultaneously at the minimum departure azimuth and the minimum departure height.

[0084] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the departure connection channel mapping generation provided in an embodiment of the present invention.

[0085] Building upon the preceding text, this invention also provides an optional implementation method for obtaining the maximum departure azimuth, maximum departure height, minimum departure azimuth, and minimum departure height, as detailed below.

[0086] Extract all geometric vertices of the 3D physical boundary of the exit permission voxel; Project all the geometric vertices of the departure permission voxel onto the horizontal plane corresponding to the origin of the takeoff and landing field to obtain the corresponding departure horizontal plane projection point. Calculate the polar coordinate azimuth angle of each projection point on the departure horizontal plane relative to the origin of the takeoff and landing field; The largest departure polar coordinate azimuth is taken as the maximum departure azimuth, and the smallest departure polar coordinate azimuth is taken as the minimum departure azimuth. The height coordinates of the upper boundary of the departure permission voxel are used as the maximum departure height, and the height coordinates of the lower boundary of the departure permission voxel are used as the minimum departure height.

[0087] This invention constructs a multi-resolution voxel model and rigorously defines the closed boundary by physically intersecting the outer cylindrical surface and the voxel bounding box. It also establishes a rigorous geometric mapping mechanism by employing polar coordinate angular projection for entry and ray intersection and cost optimization for exit. This achieves an efficient, smooth, and conflict-free connection between discrete voxels and continuous space.

[0088] The low-altitude flight path connection planning method provided in this invention achieves efficient connection between discrete and continuous spaces: it combines the efficient pathfinding advantages of discrete voxels with the high-precision advantages of continuous spaces, and breaks down the data barriers between the two through a deterministic geometric projection algorithm. It enhances the robustness of arrival and departure mapping: the proposed bidirectional asymmetric mapping method solves the edge distortion problem when voxels intersect with continuous circular arcs, ensuring the effective physical width of the arrival channel; it also uses a cost function to solve the voxel assignment ambiguity problem of departure rays. It ensures absolute safety in the transition region: by establishing a fixed-altitude 4D spatiotemporal conflict-free channel, the complex anti-collision problem is simplified to the exclusive allocation of spatiotemporal resources, greatly reducing the system's computational complexity and achieving a conflict-free smooth transition under high-density multi-aircraft operation.

[0089] This invention proposes an efficient airspace coordination method for low-altitude aircraft arrivals and departures. By employing asymmetric bidirectional geometric mapping (approach polar coordinate angular projection and departure ray optimization) and a 4D spatiotemporal decoupling mechanism, the underlying data structure friction between macroscopic discrete voxels and microscopic continuous terminal areas is resolved. This method not only eliminates the risks of abrupt path changes and funnel congestion but also boasts extremely high computational efficiency and good algorithm compatibility, making it suitable as a general-purpose middleware for various high-density low-altitude traffic scheduling systems.

[0090] In this embodiment of the invention, "low altitude" refers to airspace at or below a standard atmospheric pressure altitude of 6,000 meters, which is used by unmanned aerial vehicles.

[0091] Please see Figure 6 , Figure 6 The present invention provides a low-altitude flight path connection planning device, which is optionally applied to the electronic equipment described above.

[0092] The low-altitude flight path connection planning device includes: a first processing unit 501 and a second processing unit 502.

[0093] The first processing unit 501 is used to determine the approach azimuth range and the approach height range based on the approach voxel after determining the approach voxel. Among them, the approach azimuth angle range includes the maximum approach azimuth angle and the minimum approach azimuth angle, the approach height range includes the maximum approach height and the minimum approach height, and the approach voxel is any outer boundary voxel in the outer boundary voxel set. The outer boundary voxel is the airspace voxel that intersects with the outer cylindrical surface of the transition region and does not intersect with the obstacle. The first processing unit 501 is also used to perform contour geometric projection from the first vertex, the second vertex, the third vertex and the fourth vertex along the radial direction of the origin of the take-off and landing field, so as to determine the first projection point, the second projection point, the third projection point and the fourth projection point on the cylindrical surface of the terminal area. Among them, the first vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth and maximum height of the incoming field; the second vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth and minimum height of the incoming field; the third vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth and maximum height of the incoming field; and the fourth vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth and minimum height of the incoming field. The first processing unit 501 is also used to construct an entry connection channel based on the first vertex, the second vertex, the third vertex, the fourth vertex, the first projection point, the second projection point, the third projection point, and the fourth projection point; The second processing unit 502 is used to plan the route with the approach connection channel as a constraint to obtain the approach connection route.

[0094] The second processing unit 502 can execute S14 and S25 as described above, and the first processing unit 501 can execute other steps in the above method embodiments.

[0095] It should be noted that the low-altitude flight path connection planning device provided in this embodiment can execute the method flow shown in the above-described method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above-described embodiments.

[0096] This invention also provides a storage medium storing computer instructions and programs, which, when read and executed, perform the low-altitude flight path connection planning method described above. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0097] The following provides an electronic device, which can be a central control device for a drone, or a server device, mobile device, or computer device that communicates with the drone's central control device. This electronic device, for example... Figure 1As shown, the low-altitude flight path connection planning method described above can be implemented. Specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which, when executed by the processor 10, execute the low-altitude flight path connection planning method of the above embodiment.

[0098] In summary, the low-altitude flight path connection planning method, apparatus, storage medium, and electronic device provided by this invention include: after determining the approach voxels, determining the approach azimuth angle range and approach altitude range based on the approach voxels; performing contour geometric projections along the radial direction of the origin of the takeoff and landing field from the first vertex, second vertex, third vertex, and fourth vertex to determine the first projection point, second projection point, third projection point, and fourth projection point on the cylindrical surface of the terminal area; constructing an approach connection channel based on the first vertex, second vertex, third vertex, fourth vertex, first projection point, second projection point, third projection point, and fourth projection point; and performing flight path planning using the approach connection channel as a constraint to obtain the approach connection flight path. The approach connection flight path combines the continuously planned terminal area with the discretely planned free airspace voxels during the approach phase, and completes the geometric mapping and safe transition between discrete voxels and continuous spatial coordinates. It should be understood that at any given time, the approach connection channel can only be allocated to one aircraft, and the occupancy of the channel is released after the aircraft leaves the channel, thereby ensuring airspace safety.

[0099] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0100] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for planning low-altitude flight paths, characterized in that, The method includes: After determining the approach voxel, the approach azimuth range and approach height range are determined based on the approach voxel; The approach azimuth angle range includes the maximum approach azimuth angle and the minimum approach azimuth angle; the approach height range includes the maximum approach height and the minimum approach height; the approach voxel is any outer boundary voxel in the outer boundary voxel set; the outer boundary voxel is a spatial voxel that intersects with the outer cylindrical surface of the transition region but does not intersect with the obstacle. Along the radial direction of the origin of the take-off and landing field, contour geometric projections are performed from the first vertex, the second vertex, the third vertex, and the fourth vertex to determine the first projection point, the second projection point, the third projection point, and the fourth projection point on the cylindrical surface of the terminal area. Among them, the first vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the maximum height of the incoming field; the second vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the minimum height of the incoming field; the third vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the maximum height of the incoming field; and the fourth vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the minimum height of the incoming field. Construct an entry connection channel based on the first vertex, second vertex, third vertex, fourth vertex, first projection point, second projection point, third projection point, and fourth projection point; The approach connection channel is used as a constraint for route planning to obtain the approach connection route.

2. The low-altitude flight path connection planning method as described in claim 1, characterized in that, Determining the approach azimuth range based on the approach voxels includes: Extract all geometric vertices of the three-dimensional physical boundary of the incoming voxel; Project all the geometric vertices of the approach voxel onto the horizontal plane corresponding to the origin of the take-off and landing field to obtain the corresponding approach horizontal plane projection point; Calculate the polar azimuth angle of each of the approach horizontal plane projection points relative to the origin of the take-off and landing field; The largest approach polar coordinate azimuth angle is taken as the maximum approach azimuth angle, and the smallest approach polar coordinate azimuth angle is taken as the minimum approach azimuth angle.

3. The low-altitude flight path connection planning method as described in claim 1, characterized in that, The approach height range is determined based on the approach voxels, including: The height coordinates of the upper boundary of the incoming voxel are taken as the maximum incoming height, and the height coordinates of the lower boundary of the incoming voxel are taken as the minimum incoming height.

4. The low-altitude flight path connection planning method as described in claim 1, characterized in that, The method further includes: A three-dimensional departure ray is emitted from the departure point on the cylindrical surface of the terminal area, along the predetermined departure trajectory, into the outer airspace. The outer boundary voxel intersecting with the departure ray is taken as the departure candidate voxel; When the number of exit candidate voxels is greater than or equal to 2, the exit permission voxel is determined from the multiple exit candidate voxels; Based on the departure permission voxel and the departure point, a departure connection channel is constructed; The departure connection channel is used as a constraint for route planning to obtain the departure connection route.

5. The low-altitude flight path connection planning method as described in claim 4, characterized in that, The step of determining the departure permission voxel from multiple departure candidate voxels includes: Determine the intersection point of the departure ray and the departure outer boundary of the outer cylindrical surface of the transition region; Obtain the distance from the intersection of the outer boundary of the departure field to the center of each departure candidate voxel, and convert it into the spatial distance cost corresponding to each departure candidate voxel; Obtain the trajectory deflection angle between the departure ray and the line connecting the departure point to the center of each departure candidate voxel, and convert it into the trajectory deflection angle cost corresponding to each departure candidate voxel. Obtain the number of obstacle voxels adjacent to each departure candidate voxel, and convert them to obtain the obstacle penalty cost corresponding to each departure candidate voxel. Based on the spatial distance cost, flight path angle cost, and obstacle penalty cost corresponding to the departure candidate voxels, a weighted calculation is performed to obtain the comprehensive cost corresponding to each departure candidate voxel. The candidate voxel with the lowest overall cost is selected as the exit permission voxel.

6. The low-altitude flight path connection planning method as described in claim 4, characterized in that, The step of constructing a departure connection channel based on the departure permission voxel and the departure point includes: Connect the fifth, sixth, seventh, and eighth vertices to the departure point to construct a departure connection channel; Among them, the fifth vertex is the vertex in the departure permission voxel that is simultaneously at the maximum departure azimuth and the maximum departure height, the sixth vertex is the vertex in the departure permission voxel that is simultaneously at the maximum departure azimuth and the minimum departure height, the seventh vertex is the vertex in the departure permission voxel that is simultaneously at the minimum departure azimuth and the maximum departure height, and the eighth vertex is the vertex in the departure permission voxel that is simultaneously at the minimum departure azimuth and the minimum departure height.

7. A low-altitude flight path connection planning device, characterized in that, The device includes: The first processing unit is used to determine the approach azimuth range and the approach height range based on the approach voxel after determining the approach voxel. The approach azimuth angle range includes the maximum approach azimuth angle and the minimum approach azimuth angle; the approach height range includes the maximum approach height and the minimum approach height; the approach voxel is any outer boundary voxel in the outer boundary voxel set; the outer boundary voxel is a spatial voxel that intersects with the outer cylindrical surface of the transition region but does not intersect with the obstacle. The first processing unit is also used to perform contour geometric projection from the first vertex, the second vertex, the third vertex and the fourth vertex along the radial direction of the origin of the take-off and landing field, so as to determine the first projection point, the second projection point, the third projection point and the fourth projection point on the cylindrical surface of the terminal area. Among them, the first vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the maximum height of the incoming field; the second vertex is the vertex in the incoming voxel that is simultaneously at the maximum azimuth angle and the minimum height of the incoming field; the third vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the maximum height of the incoming field; and the fourth vertex is the vertex in the incoming voxel that is simultaneously at the minimum azimuth angle and the minimum height of the incoming field. The first processing unit is also configured to construct an entry connection channel based on the first vertex, the second vertex, the third vertex, the fourth vertex, the first projection point, the second projection point, the third projection point, and the fourth projection point; The second processing unit is used to plan the flight path using the approach connection channel as a constraint to obtain the approach connection flight path.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-6.

9. An electronic device, characterized in that, include: Processor and memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method as described in any one of claims 1-6 is implemented.

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