Airplane obstacle identification method and device, airplane, equipment and storage medium

Abstract

The application relates to an aircraft obstacle identification method and device, an aircraft, equipment and a storage medium. The method comprises the following steps: obtaining a target flight route of a target aircraft; and identifying whether an obstacle conflict exists in the target flight route according to the target flight route and a pre-constructed conflict relation table. The conflict relation table is pre-constructed according to the conflict relation between all flight routes and obstacle information. According to the pre-constructed conflict relation table, the conflict relation between all flight routes and static obstacles is calculated in advance according to the concept of pre-position calculation, real-time global 3D obstacle conflict detection is converted into a small amount of detection in a small area or is not required through logical reasoning, the aircraft does not need to perform a high-energy perception operation, the calculation amount can be greatly reduced in a high-concurrency scene, the requirement for the server performance is lower, and the detection efficiency is higher.

Description

Technical Field

[0001] This application relates to the field of aircraft obstacle recognition technology, and in particular to an aircraft obstacle recognition method, apparatus, aircraft, equipment and storage medium. Background Technology

[0002] Currently, obstacle identification by drones mainly relies on two methods: autonomous identification by drones equipped with intelligent sensing modules (such as lidar, vision, millimeter-wave radar, and ultrasonic radar), and obstacle identification by ground-based detection devices followed by data transmission to the drone. However, the drone-equipped intelligent sensing module solution places high demands on the drone's computing power, resulting in high costs. Furthermore, if the drone uses a high-performance sensing solution under all operating conditions, the capacity loss is significant, noticeably reducing its endurance. In the ground-based detection device obstacle identification solution, in low-altitude flight scenarios, including densely populated urban areas and suburbs, the ground-based detection devices are severely obstructed, leading to poor performance. In addition, large-scale deployment of detection devices is extremely costly. Summary of the Invention

[0003] Therefore, it is necessary to provide an aircraft obstacle identification method, device, aircraft, equipment, and storage medium to address the technical problem that the onboard perception capability of UAVs significantly reduces their endurance in the existing technology.

[0004] A first aspect of the present invention provides an aircraft obstacle recognition method, comprising: Obtain the target flight path of the target aircraft; Based on the target flight path and the pre-built conflict relationship table, it is identified whether there is an obstacle conflict in the target flight path. If there is an obstacle conflict, a conflict warning is sent to the target aircraft. The conflict relationship table is pre-built based on the conflict relationships between all flight paths and obstacle information.

[0005] Furthermore, the obstacle information includes at least one of the following: Urban geospatial information, including geographic elevation information and building white model information; The preset obstacle types, locations, boundaries, and heights.

[0006] Furthermore, the conflict relationship table is pre-constructed based on the conflict relationships between all flight paths and obstacle information, including: Based on the obstacle information, construct a global obstacle model; Based on all the flight paths and the global obstacle model, the conflict relationships between all the flight paths and obstacles are obtained respectively; Construct a conflict relationship table based on the conflict relationships between all flight paths and obstacles.

[0007] Furthermore, the obstacle information also includes at least one of the following: Obstacle data obtained by using ground detection devices, which include any combination of 5G-A, lidar, and photoelectric detection equipment; Obstacle data obtained by using the aircraft's sensor modules.

[0008] Furthermore, it also includes: Obtain the flight area fence and real-time flight data of the target aircraft; Based on the real-time flight data, it is determined whether the target aircraft has deviated from the target flight path. When the target aircraft deviates from the target flight path, based on the flight area fence, the real-time flight data, and the obstacle information, it is identified whether there is an obstacle conflict during the flight of the target aircraft.

[0009] Furthermore, the step of identifying whether an obstacle conflict exists based on the flight area fence, the real-time flight data, and the obstacle information includes: Based on the information about the flight area fence and the obstacles, it is determined whether there are any obstacles within the flight area fence. If there are no obstacles within the flight area fence, it is determined whether the target aircraft has flown out of the flight area fence based on the flight area fence and the real-time flight data; if the target aircraft has not flown out of the flight area fence, it is determined that there is no obstacle conflict; if the target aircraft has flown out of the flight area fence, a first obstacle conflict judgment is performed, and the first obstacle conflict judgment is made based on the real-time flight data and the obstacle information. If there are obstacles within the fenced area of ​​the flight zone, a second obstacle conflict judgment is performed. The second obstacle conflict judgment is based on the real-time flight data and the obstacle information.

[0010] Furthermore, the first obstacle conflict determination includes: The safety threshold radius is determined based on the real-time flight data; Using the real-time coordinates of the aircraft as the center and the safety threshold radius as the radius, an aircraft sphere is obtained; The airspace is divided into several grids of preset size according to the 3D dimension; The at least one first grid in which the aircraft sphere is located is calculated based on the real-time flight data; Obstacle information within the at least one first grid is obtained based on the at least one first grid and the obstacle information; Determine whether there is an obstacle conflict based on the obstacle information between the aircraft sphere and at least one obstacle in the first grid.

[0011] Furthermore, if the target flight path of the target aircraft cannot be obtained, a first obstacle conflict judgment is made.

[0012] Furthermore, the second obstacle conflict determination includes: Obstacle information within the flight area fence is identified based on the flight area fence and the obstacle information; The safety threshold radius is determined based on the real-time flight data; Using the real-time coordinates of the aircraft as the center and the safety threshold radius as the radius, an aircraft sphere is obtained; Determine whether there is an obstacle conflict based on the information about the obstacles between the aircraft sphere and the fenced area of ​​the flight zone.

[0013] Furthermore, it also includes: When an obstacle conflict is detected during the flight of the target aircraft, the target aircraft's perception module is activated to detect it, and the target aircraft avoids the obstacle based on the detection results. When it is determined that there are no obstacles or conflicts during the flight of the target aircraft, the sensing module of the target aircraft is partially or completely shut down.

[0014] A second aspect of the present invention provides an aircraft obstacle recognition device, comprising: The acquisition module is used to acquire the target flight path of the target aircraft; The identification module identifies whether there is an obstacle conflict in the target flight path based on the target flight path and a pre-built conflict relationship table. If there is an obstacle conflict, a conflict warning is sent to the target aircraft. The conflict relationship table is pre-built based on the conflict relationships between all flight paths and obstacle information.

[0015] A third aspect of the invention provides an aircraft configured in an air traffic control system or command and control system, wherein the aircraft performs obstacle identification according to the steps of the method of the first aspect of the invention.

[0016] A fourth aspect of the present invention provides a computer 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 steps of the method described in the first aspect of the present invention.

[0017] A fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect of the present invention.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention provides an aircraft obstacle identification method, apparatus, aircraft, device, and storage medium. The aircraft obstacle identification method includes acquiring a target flight path of a target aircraft; identifying whether obstacle conflicts exist in the target flight path based on the target flight path and a pre-built conflict relationship table; wherein the conflict relationship table is pre-built based on the conflict relationships between all flight paths and obstacle information. This invention, through the pre-built conflict relationship table, pre-calculates the conflict relationships between all flight paths and static obstacles using a pre-calculation concept, transforming real-time full-domain 3D obstacle conflict detection into a small-area, low-level detection or obstacle detection through logical reasoning, eliminating the need for energy-intensive sensing operations by the aircraft. This solves the technical problem in existing technologies where onboard sensing capabilities significantly reduce flight endurance. It can greatly reduce computational load in high-concurrency scenarios, lower server performance requirements, and increase detection efficiency. Attached Figure Description

[0019] Figure 1 A flowchart illustrating an aircraft obstacle recognition method provided in an embodiment of the present invention; Figure 2 A schematic diagram illustrating the process of constructing a conflict relationship table according to an embodiment of the present invention; Figure 3 A schematic diagram of the obstacle recognition process during aircraft flight provided in an embodiment of the present invention; Figure 4 A schematic diagram of the first obstacle conflict determination provided in an embodiment of the present invention; Figure 5 A schematic diagram of the second obstacle conflict determination process provided in an embodiment of the present invention; Figure 6 A flowchart illustrating another aircraft obstacle recognition method provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the aircraft obstacle recognition device provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] To address the technical problems of high requirements for aircraft onboard sensing capabilities and high deployment costs of ground-based detection devices in existing aircraft obstacle detection technologies, the first embodiment of this invention proposes an aircraft obstacle identification method, such as... Figure 1 As shown, it includes: Obtain the target flight path of the target aircraft; In this embodiment, the target aircraft refers to any aircraft that can obtain support in the atmosphere by means of the air's reaction force (rather than the reaction force acting on the ground) and requires application and approval before flight. In particular, the target aircraft can be an unmanned aerial vehicle. The target flight route refers to the predetermined flight path of the target aircraft from the takeoff point to the destination. It is an air passage in the three-dimensional airspace that is strictly planned, managed and monitored. The target flight route can be obtained from the target aircraft's flight plan information, which includes the estimated flight time, flight route, flight area fence, aircraft type information and flight performance, etc. Based on the target flight path and the pre-built conflict relationship table, it is identified whether there is an obstacle conflict in the target flight path. If there is an obstacle conflict, a conflict warning is sent to the target aircraft. The conflict relationship table is pre-built based on the conflict relationships between all flight paths and obstacle information.

[0022] In this embodiment, the conflict relationship table stores information on whether there is a conflict relationship between all known flight paths and obstacles indicated by obstacle information. When the flight path indicated by the flight path overlaps with the obstacle indicated by the obstacle information, it is considered that there is a conflict relationship between the flight path and the obstacle indicated by the obstacle information, and the conflict relationship table records the existence of obstacle conflict on the flight path accordingly. Specifically, if a new flight path is added, it is marked whether there are obstacle conflicts in the new flight path and updated to the conflict relationship table; This embodiment utilizes a pre-planning strategy, which involves pre-completing obstacle conflict detection and calculation before aircraft takeoff and storing the results for subsequent use in planning. Specifically, a conflict relationship table is used to record whether any flight paths have obstacle conflicts. Before takeoff, when the target flight path of the target aircraft is obtained, the target flight path is simply matched with the flight paths recorded in the conflict relationship table to determine whether there are obstacle conflicts on the target flight path. This eliminates the need for the target aircraft to activate its sensing module for high-energy-consuming real-time sensing, reducing the aircraft's onboard sensing capabilities and improving the target aircraft's endurance. Furthermore, obstacle perception can be achieved without deploying ground detection devices.

[0023] Optionally, in this embodiment of the invention, the corresponding steps are completed through an aircraft obstacle recognition system. The aircraft obstacle recognition system includes at least an obstacle recognition platform, which is communicatively connected to and data-interoperable with the target aircraft. The obstacle recognition platform stores a conflict relationship table. Before the target aircraft takes off, the obstacle recognition platform obtains the target flight path of the target aircraft, determines whether there are obstacle conflicts on the target flight path according to the conflict relationship table, and feeds back to the target aircraft. In this embodiment, the aircraft obstacle recognition system can still achieve the basic function of obstacle recognition even in the absence of ground detection devices or sensing modules.

[0024] Specifically, when an obstacle conflict is detected in the target flight path, the obstacle identification platform issues a conflict warning to the target aircraft. The target aircraft adjusts its flight path according to the received conflict warning until there is no obstacle conflict in the adjusted flight path. The target aircraft then resumes flight. The flight path adjustment can be done by the aircraft itself, by adjusting it in the system and then sending the adjusted flight path to the aircraft, or by the user adjusting the flight path and then sending the adjusted flight path to the aircraft. The aircraft then resumes flight according to the adjusted flight path. No limitation is made here.

[0025] In a further embodiment, the obstacle information includes at least one of the following: Urban geospatial information, including geographic elevation information and building white model information; Urban geospatial information is a data set describing the spatial geographic distribution and characteristics of geographic entities in a city. It covers the quantity, quality, distribution patterns, and dynamic changes of surface objects. It is the general term for the graphic information, attribute information, and spatial relationship information of all geographic elements related to geographic distribution in a city. In this embodiment, urban geospatial information is accessed through an obstacle recognition platform to obtain geographic elevation information and building white model information. Geographic elevation information refers to the height data of a point on the Earth's surface relative to a certain reference surface (usually the zero point of altitude). It describes the pure terrain skeleton before the surface cover such as buildings and vegetation. Building white model information refers to a wireframe model or solid model that only contains the geometric outline (location, shape, height) of the building. The actual altitude of the top of the building can be obtained through geographic elevation information and building white model information, which is used to determine whether there is an obstacle conflict between the flight path of an aircraft and urban buildings.

[0026] Preset obstacle types, locations, boundaries, and heights; In this embodiment, the preset obstacle type, location, boundary, and height can be entered through an obstacle recognition platform and converted into 3D entities projected onto geographic space. The specific entry information is as follows: Obstacle types: A variety of preset scene obstacles are available, including but not limited to mobile cranes / utility poles / windmills / tower cranes / high-voltage cables / communication base stations / chimneys / bridges / construction equipment, etc. Scope: The horizontal boundary can provide boundary shapes including but not limited to polygons, rectangles, circles, etc., and the vertical height should set the minimum and maximum heights from the ground; Effective time: Supports setting start time and end time; the obstacle will be automatically deleted after the end time is reached.

[0027] In a further embodiment, the conflict table is pre-constructed based on the conflict relationships between all flight paths and obstacle information, such as... Figure 2 As shown, it includes: Based on the obstacle information, construct a global obstacle model; In this embodiment, the obstacle recognition platform can form a full-domain obstacle model based on geographic elevation, building white models, and manually entered obstacle information.

[0028] Based on all the flight paths and the global obstacle model, the conflict relationships between all the flight paths and obstacles are obtained respectively; Construct a conflict relationship table based on the conflict relationships between all flight paths and obstacles; In this embodiment, the conflict relationship table includes at least flight route IDs, obstacle / building IDs, and the locations of conflict points. Furthermore, the obstacle recognition platform performs a unified update calculation when the geographic elevation / building white model / building data is updated. The obstacle recognition platform also performs a unified update calculation when a new flight route is added or a flight route is changed, ensuring the conflict relationship table is always up-to-date.

[0029] In this embodiment, by pre-calculating the conflict relationships between all flight paths and static obstacles, the technical problem of high server computing performance requirements and severe computing latency caused by the massive amount of geospatial information data is solved, which cannot meet the needs of large-scale low-altitude flight scenarios, thus achieving highly efficient obstacle recognition.

[0030] In a further embodiment, the obstacle information further includes at least one of the following: Obstacle data obtained by using ground detection devices, which include any combination of 5G-A, lidar, and photoelectric detection equipment; In this embodiment, the aircraft obstacle recognition system may also include ground detection devices deployed in key prevention and control areas (such as high-security protection areas and main airway areas of routinely operating routes). The ground detection devices are used to identify dynamic obstacles in the airspace and synchronize them to the obstacle recognition platform. In this way, by deploying a small number of ground detection devices in key prevention and control areas, data augmentation is provided for aircraft obstacle recognition, thereby realizing the recognition of dynamic obstacles while reducing the number of ground detection devices deployed and lowering the deployment cost of the ground detection devices.

[0031] Obstacle data obtained using the aircraft's sensing module; In this embodiment, the aircraft obstacle recognition system can also access obstacle data sensed by the aircraft perception module, including the horizontal distance, vertical distance, and direction of the obstacle relative to the aircraft. Combined with the aircraft's current latitude and longitude position, the obstacle position is reverse-analyzed and converted into dynamic obstacle elements in the air, providing dynamic obstacle warning services for other aircraft. By accessing the aircraft perception module, obstacle perception can be performed during aircraft flight. At the same time, through the aircraft perception module activation strategy described below, the energy consumption of the aircraft perception module is minimized, thereby maximizing aircraft endurance and ensuring basic obstacle recognition capabilities.

[0032] Optionally, embodiments of the present invention treat all airborne aircraft as dynamic obstacles to other aircraft, support the identification of conflicts between aircraft, issue early warnings, and provide obstacle conflict identification services for multiple aircraft.

[0033] In a further embodiment, the aircraft obstacle recognition method, such as Figure 3 As shown, it also includes: Obtain the flight area fence and real-time flight data of the target aircraft; In this embodiment, the flight area fence is a physical flight boundary restriction set up for aircraft, and aircraft are generally not allowed to fly out of the flight area fence range.

[0034] Based on the real-time flight data, it is determined whether the target aircraft has deviated from the target flight path. When the target aircraft deviates from the target flight path, based on the flight area fence, the real-time flight data, and the obstacle information, it is identified whether there is an obstacle conflict during the flight of the target aircraft.

[0035] In this embodiment, as described above, once the target aircraft takes off, there are no obstacle conflicts along the target flight path. However, the target aircraft may not follow the target flight path during flight. In this case, the obstacle identification method first determines whether the target aircraft deviates from the target flight path based on real-time flight data. If it is determined that the target aircraft is following the target flight path, it can be inferred that there are no obstacle conflicts, thus freeing up computing resources. If it is determined that the target aircraft deviates from the target flight path, then based on the flight area fence, the real-time flight data, and the obstacle information, it is determined whether there are obstacle conflicts during the target aircraft's flight. When an obstacle conflict is detected, a conflict warning is generated and sent to the target aircraft so that the target aircraft can avoid obstacles based on the conflict warning. In this way, obstacle conflicts only need to be calculated in real time when the target aircraft deviates from the target flight path, reducing the requirements for computing resources.

[0036] In a further embodiment, when the target aircraft deviates from the target flight path, based on the flight area fence, the real-time flight data, and the obstacle information, it is identified whether there is an obstacle conflict during the flight of the target aircraft, including: Based on the information about the flight area fence and the obstacles, it is determined whether there are any obstacles within the flight area fence. In this embodiment, based on the geographical location in the flight area fence and the obstacle information, it can be determined whether there are obstacles within the flight area fence.

[0037] If there are no obstacles within the flight area fence, it is only necessary to continuously determine whether the target aircraft has flown out of the flight area fence based on the flight area fence and the real-time flight data; if the target aircraft has not flown out of the flight area fence, it is determined that there is no obstacle conflict; if the target aircraft has flown out of the flight area fence, a first obstacle conflict determination is performed, which is based on the real-time flight data and the obstacle information. In this embodiment, if there are no obstacles within the flight area fence and the target aircraft has not flown out of the flight area fence, it can be logically inferred that there is no obstacle conflict, thus freeing up computing resources; if there are no obstacles within the flight area fence and the target aircraft has flown out of the flight area fence, then the first obstacle conflict judgment is performed, which reduces the requirements for computing resources. If there are obstacles within the fenced area of ​​the flight zone, a second obstacle conflict judgment is performed. The second obstacle conflict judgment is based on the real-time flight data and the obstacle information.

[0038] In a further embodiment, the first obstacle conflict determination, such as Figure 4 As shown, it includes: The safety threshold radius is determined based on the real-time flight data; Using the real-time coordinates of the aircraft as the center and the safety threshold radius as the radius, an aircraft sphere is obtained; The airspace is divided into several grids of preset size according to the 3D dimension; In a preferred embodiment, the airspace is divided into several grids of 0.5km*0.5km*0.5km in 3D dimensions.

[0039] The at least one first grid in which the aircraft sphere is located is calculated based on the real-time flight data; Obstacle information within the at least one first grid is obtained based on the at least one first grid and the obstacle information; Determine whether there is an obstacle conflict based on the obstacle information between the aircraft sphere and at least one obstacle in the first grid.

[0040] In this embodiment, the aircraft is regarded as a moving sphere, and the radius of the sphere can be set as a safe threshold radius in combination with the aircraft's flight speed. When a conflict is detected between the aircraft sphere and an obstacle within the flight area fence, a conflict warning is generated.

[0041] In a further embodiment, if the target flight path of the target aircraft cannot be obtained, a first obstacle conflict determination is performed.

[0042] In a further embodiment, the second obstacle conflict determination, such as Figure 5 As shown, it includes: Obstacle information within the flight area fence is identified based on the flight area fence and the obstacle information; The safety threshold radius is determined based on the real-time flight data; Using the real-time coordinates of the aircraft as the center and the safety threshold radius as the radius, an aircraft sphere is obtained; Determine whether there is an obstacle conflict based on the information about the obstacles between the aircraft sphere and the fenced area of ​​the flight zone.

[0043] In this embodiment, the aircraft is regarded as a moving sphere, and the radius of the sphere can be set as a safe threshold radius in combination with the aircraft's flight speed. When a conflict is detected between the aircraft sphere and an obstacle within the flight area fence, a conflict warning is generated and sent to the aircraft.

[0044] In this embodiment, obstacle recognition during aircraft flight is transformed into a small-area full-domain 3D obstacle conflict detection through pre-calculation and logical reasoning, or obstacle detection can be eliminated through logical reasoning. This can greatly reduce the amount of computation in high-concurrency scenarios, lower the requirements for server performance, and improve detection efficiency.

[0045] In a further embodiment, when the target flight path of the target aircraft cannot be obtained, the first obstacle judgment is performed directly to determine whether there is an obstacle conflict.

[0046] This embodiment also provides an aircraft obstacle recognition method, which, as a specific implementation of this embodiment, covers all processes of an aircraft before and during takeoff, such as... Figure 6 As shown, it includes: (1) Based on the conflict relationship between all flight routes and obstacle information, establish a conflict relationship table. When the map elevation information, building white model information are updated, or new obstacles or flight routes are added, the conflict relationship table is recalculated and updated to obtain the latest conflict relationship table. (2) Obtain the target flight path of the target aircraft and proceed to step (3). If the target flight path of the target aircraft cannot be obtained, proceed to step (8). (3) Determine whether the target flight path of the target aircraft conflicts with the obstacle according to the conflict relationship table. If it does, proceed to step (9); if it does not, proceed to step (4). (4) Based on the real-time flight data of the target aircraft, continuously determine whether the target aircraft is flying in accordance with the target flight route. If the target aircraft deviates from the target flight route, proceed to step (5). (5) Obtain the flight area fence of the target aircraft. Based on the flight area fence and obstacle information, determine whether there are obstacles in the flight area fence. If there are no obstacles, proceed to step (6). If there are obstacles, calculate the obstacle information in the flight area fence to reduce the subsequent calculation amount and proceed to step (7). (6) Based on the real-time flight data of the target aircraft, continuously determine whether the target aircraft has flown out of the flight area fence. If the target aircraft has flown out of the flight area fence, proceed to step (8). (7) Using the set safety threshold radius as the radius, treat the aircraft as a sphere. Based on the real-time flight data of the aircraft and the obstacle information within the flight area fence, continuously determine whether the aircraft is in conflict with the obstacle. If there is a conflict, proceed to step (9). (8) Using the set safety threshold radius as the radius, the aircraft is regarded as a sphere, and the airspace is divided into several grids of 0.5km*0.5km*0.5km in 3D dimension. At least one first grid where the aircraft sphere is located is calculated based on the real-time flight data. Obtain the obstacle information in the at least one first grid based on the at least one first grid and the obstacle information. Continuously determine whether there is an obstacle conflict based on the obstacle information between the aircraft sphere and the at least one first grid. If there is an obstacle conflict, proceed to step (9). (9) Generate conflict warning.

[0047] This embodiment transforms real-time full-domain 3D obstacle conflict detection into a small-area, minimal-scale detection or obstacle detection that can be eliminated through logical reasoning by pre-calculation and logical reasoning. This greatly reduces the computational load in high-concurrency scenarios, lowers the requirements for server performance, and increases detection efficiency.

[0048] In a further embodiment, this invention allows for the absence of ground detection devices and aircraft perception modules. An obstacle recognition platform combines obstacle information with real-time aircraft flight data (each aircraft is a "dynamic obstacle" relative to other aircraft) to provide obstacle conflict recognition services for all aircraft. If ground detection data (dynamic obstacle data) and aircraft onboard perception data are available, the obstacle recognition platform fuses all data and provides conflict recognition services to all aircraft, thereby reducing aircraft operating power consumption. Specifically: When an obstacle conflict is detected during the flight of the target aircraft, the target aircraft's perception module is activated to detect it, and the target aircraft avoids the obstacle based on the detection results. When it is determined that there are no obstacles or conflicts during the flight of the target aircraft, the sensing module of the target aircraft is partially or completely shut down.

[0049] In this way, the target aircraft only activates its sensing module during flight when it receives a conflict warning from the obstacle recognition platform. This module is used to detect the surrounding airspace and take avoidance actions, thereby minimizing the aircraft's sensing power consumption and improving its endurance under normal operating conditions while ensuring flight safety.

[0050] Optionally, before receiving a conflict warning from the obstacle recognition platform, the aircraft also connects to the obstacle recognition platform, specifically through the following steps: (a) The aircraft automatically identifies whether it has established a network connection with the obstacle recognition platform and determines the communication delay based on the frequency of the received information; (b) If the aircraft fails to establish a connection with the obstacle recognition platform, the aircraft must maintain full-condition intelligent sensing mode to ensure flight safety. Step (d) shall be executed only after a connection is established and network latency returns to within the set threshold. (c) If the aircraft has established a connection with the obstacle recognition platform, but the network latency exceeds the set threshold, the data synchronized by the platform is considered to have no real-time significance. In this case, the aircraft must enable the intelligent perception mode under all operating conditions until the network latency is restored to within the set threshold, and then proceed to step (d). (d) If the aircraft has established a connection with the obstacle recognition platform and the network conditions are good, the aircraft can activate the low-power sensing mode, partially or completely turn off the sensing modules, and fly along the predetermined trajectory until it receives a conflict warning from the obstacle recognition platform.

[0051] Furthermore, from a security perspective, depending on whether ground detection devices are missing, this embodiment of the invention provides the following matrix strategy: If ground detection devices are deployed at the aircraft's current location, all of the aircraft's sensing modules are turned off, while maintaining connection with the obstacle recognition platform. When no ground detection devices are deployed at the aircraft's current location, some of the aircraft's perception modules remain active to identify dynamic obstacles at close range.

[0052] A second embodiment of the present invention provides an aircraft obstacle recognition device, such as... Figure 7 As shown, it includes: The acquisition module is used to acquire the target flight path of the target aircraft; The identification module identifies whether there is an obstacle conflict in the target flight path based on the target flight path and a pre-built conflict relationship table. If there is an obstacle conflict, a conflict warning is sent to the target aircraft. The conflict relationship table is pre-built based on the conflict relationships between all flight paths and obstacle information.

[0053] A third embodiment of the present invention provides an aircraft configured in an air traffic control system or command and dispatch system, wherein the aircraft performs obstacle identification according to the steps of the method described in the first embodiment of the present invention.

[0054] The air traffic control system in this embodiment refers to a comprehensive information management system that, for the low-altitude airspace operating environment, adopts a systematic integration technology of communication, navigation, surveillance and service systems to implement airspace management, flight plan management, real-time monitoring and command, and route planning for low-altitude aircraft. The command and dispatch system refers to a comprehensive operating system that, for low-altitude flight activities, integrates functions such as communication networking, task scheduling, and resource management to achieve unified scheduling, command issuance, and collaborative management of resources such as low-altitude aircraft, take-off and landing sites, and ground support equipment.

[0055] A fourth embodiment of the present invention provides a computer device, including 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 steps of the method described in the first embodiment of the present invention.

[0056] A fifth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in the first embodiment of the present invention.

[0057] The processor mentioned above is the processor in the computer device described in the above embodiments. The computer-readable storage medium may be a computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0058] In this embodiment, the module can be implemented in software so that it can be executed by various types of processors. For example, an identified executable code module may include one or more physical or logical blocks of computer instructions, which may be constructed as objects, procedures, or functions. Nevertheless, the executable code of the identified module does not need to be physically located together, but may include different instructions stored in different bits, which, when logically combined, constitute the module and achieve the module's intended purpose.

[0059] Through the above description of the implementation methods, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, disk, optical disk) and includes several instructions for executing the methods described in the various embodiments of this application.

[0060] The exemplary embodiments described above are with reference to the accompanying drawings. Many different forms and embodiments are feasible without departing from the spirit and teachings of this application. Therefore, this application should not be construed as limiting the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided to make this application complete and convey the scope of this application to those skilled in the art. In these drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless clearly indicated otherwise, the singular forms “a,” “an,” and “the” are intended to include all such forms. It will be further understood that the terms “comprising” and / or “including”, when used in this specification, indicate the presence of the stated features, integers, steps, operations, components, and / or elements, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, and / or groups thereof. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of the range and any subranges in between.

[0061] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles described in this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An aircraft obstacle recognition method, characterized in that, include: Obtain the target flight path of the target aircraft; Based on the target flight path and the pre-built conflict relationship table, it is identified whether there is an obstacle conflict in the target flight path. If there is an obstacle conflict, a conflict warning is sent to the target aircraft. The conflict relationship table is pre-built based on the conflict relationships between all flight paths and obstacle information.

2. The aircraft obstacle recognition method according to claim 1, characterized in that, The obstacle information includes at least one of the following: Urban geospatial information, including geographic elevation information and building white model information; The preset obstacle types, locations, boundaries, and heights.

3. The aircraft obstacle identification method according to claim 2, characterized in that, The conflict table is pre-constructed based on the conflict relationships between all flight paths and obstacle information, including: Based on the obstacle information, construct a global obstacle model; Based on all the flight paths and the global obstacle model, the conflict relationships between all the flight paths and obstacles are obtained respectively; Construct a conflict relationship table based on the conflict relationships between all flight paths and obstacles.

4. The aircraft obstacle identification method according to claim 2, characterized in that, The obstacle information also includes at least one of the following: Obstacle data obtained using ground-based detection devices; Obstacle data obtained by using the aircraft's sensor modules.

5. The aircraft obstacle identification method according to any one of claims 1 to 4, characterized in that, Also includes: Obtain the flight area fence and real-time flight data of the target aircraft; Based on the real-time flight data, it is determined whether the target aircraft has deviated from the target flight path. When the target aircraft deviates from the target flight path, based on the flight area fence, the real-time flight data, and the obstacle information, it is identified whether there is an obstacle conflict during the flight of the target aircraft.

6. The aircraft obstacle identification method according to claim 5, characterized in that, The step of identifying whether an obstacle conflict exists based on the flight area fence, the real-time flight data, and the obstacle information includes: Based on the information about the flight area fence and the obstacles, it is determined whether there are any obstacles within the flight area fence. If there are no obstacles within the flight area fence, it is determined whether the target aircraft has flown out of the flight area fence based on the flight area fence and the real-time flight data; if the target aircraft has not flown out of the flight area fence, it is determined that there is no obstacle conflict; if the target aircraft has flown out of the flight area fence, a first obstacle conflict judgment is performed, and the first obstacle conflict judgment is made based on the real-time flight data and the obstacle information. If there are obstacles within the fenced area of ​​the flight zone, a second obstacle conflict judgment is performed. The second obstacle conflict judgment is based on the real-time flight data and the obstacle information.

7. The aircraft obstacle identification method according to claim 6, characterized in that, The first obstacle collision determination includes: The safety threshold radius is determined based on the real-time flight data; Using the real-time coordinates of the aircraft as the center and the safety threshold radius as the radius, an aircraft sphere is obtained; The airspace is divided into several grids of preset size according to the 3D dimension; The at least one first grid in which the aircraft sphere is located is calculated based on the real-time flight data; Obstacle information within the at least one first grid is obtained based on the at least one first grid and the obstacle information; Determine whether there is an obstacle conflict based on the obstacle information between the aircraft sphere and at least one obstacle in the first grid.

8. The aircraft obstacle identification method according to claim 6 or 7, characterized in that, If the target flight path of the target aircraft cannot be obtained, then the first obstacle conflict judgment is performed.

9. The aircraft obstacle identification method according to claim 6, characterized in that, The second obstacle conflict determination includes: Obstacle information within the flight area fence is identified based on the flight area fence and the obstacle information; The safety threshold radius is determined based on the real-time flight data; Using the real-time coordinates of the aircraft as the center and the safety threshold radius as the radius, an aircraft sphere is obtained; Determine whether there is an obstacle conflict based on the information about the obstacles between the aircraft sphere and the fenced area of ​​the flight zone.

10. The aircraft obstacle recognition method according to claim 5, characterized in that, Also includes: When an obstacle conflict is detected during the flight of the target aircraft, the target aircraft's perception module is activated to detect it, and the target aircraft avoids the obstacle based on the detection results. When it is determined that there are no obstacles or conflicts during the flight of the target aircraft, the sensing module of the target aircraft is partially or completely shut down.

11. An aircraft obstacle recognition device, characterized in that, include: The acquisition module is used to acquire the target flight path of the target aircraft; The identification module identifies whether there is an obstacle conflict in the target flight path based on the target flight path and a pre-built conflict relationship table. If there is an obstacle conflict, a conflict warning is sent to the target aircraft. The conflict relationship table is pre-built based on the conflict relationships between all flight paths and obstacle information.

12. An aircraft, characterized in that, The aircraft is configured in an air traffic control system or command and control system, and the aircraft performs obstacle identification according to the steps of the method according to any one of claims 1 to 10.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 10.

14. 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 steps of the method according to any one of claims 1 to 10.

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