Space-time resource and space-time process management system, and flight scheduling method

Abstract

Disclosed are a space-time resource and space-time process management system, and a flight scheduling method. The system comprises: a space-time resource management module, a space-time process management module, a space-time process scheduling and coordination module, and a system event response module. The space-time resource management module is configured to organize and manage space-time resources. The space-time process management module is configured to manage a state of a flight process, the occupation of the space-time resources, a flight program, and an execution process. The space-time process scheduling and coordination module is configured to select a space domain property and a scheduling policy on the basis of the properties of required space-time resources, the priority of the space-time process, and a real-time performance requirement. The system event response module is configured to respond to an external event or a request event. The present disclosure can improve the flight efficiency, reduce the coupling of various flight operations in the system, improve the universality and utilization rate of airspace, and improve the safety, capacity and efficiency of the system.

Description

A space-time resource and space-time process management system and flight scheduling method Technical Field

[0001] The present disclosure relates to the fields of low-altitude economy and air traffic control technology, and in particular to a space-time resource and space-time process management system and a flight scheduling method. Background Art

[0002] The development and expansion of low-altitude airspace, and the booming low-altitude economy centered on consumer drones, industrial drones, urban air mobility, and general aviation helicopters, require the rational delineation and allocation of airspace spatiotemporal resources, a new and rational representation of flight processes, and new and efficient methods for the use of spatiotemporal resources and flight management to ensure efficiency and safety. The rational allocation of airspace spatiotemporal resources and intelligent flight management can optimize overall aircraft missions and improve operational efficiency and safety.

[0003] Currently, there's no rational solution for representing airspace spatiotemporal resources in low-altitude scenarios. Existing solutions rely on simple, coarse-grained partitioning and stratification of the airspace's spatial dimensions. These solutions fail to account for the occupancy of the temporal dimension, nor do they consider how to refine the spatial dimension's divisions. Furthermore, they lack a dynamic, real-time update mechanism. Representations of flight missions and processes remain limited to vague information such as takeoff and landing points and the approximate airspace usage. Airspace is exclusively used within a certain range during flight time, making precise detailing and real-time dynamic coordination and scheduling impossible. This is highly unfavorable for high-density flight scenarios. Airspace usage remains based on isolated flights and dedicated airspace, without leveraging the large-scale development of new applications or the sharing of airspace by diverse applications. This makes it impossible to achieve universal airspace.

[0004] Therefore, the existing technology still needs to be improved and enhanced. Technical issues

[0005] The technical problem to be solved by the present disclosure is that, in response to the above-mentioned defects of the existing technology, a space-time resource and space-time process management system and a flight scheduling method are provided, which are intended to solve the problems in the existing technology that airspace resources cannot be accurately digitally represented, resource occupancy cannot be accurately perceived and represented, flight missions and flight processes cannot be accurately refined and dynamically coordinated and scheduled in real time, and different types of applications cannot share the same airspace, so as to realize the public nature, universality and cross-application sharing of airspace and improve the utilization rate of airspace. Technical Solutions

[0006] In order to solve the above technical problems, the technical solutions adopted by the present disclosure are as follows:

[0007] In a first aspect, the present disclosure provides a spatiotemporal resource and spatiotemporal process management system, wherein the system comprises:

[0008] The spatiotemporal resource management module is used to represent, organize, and manage spatiotemporal resources. Spatiotemporal resources are a collection of four-dimensional points that combine the time dimension with the space dimension to represent the airspace in a dynamically changing manner.

[0009] The space-time process management module is used to manage the flight process status, space-time resource occupancy, flight procedures and their execution process;

[0010] A system event response module, configured to respond to external events or request events, wherein the external events include: abnormal events of equipment and time-space resource conflict events;

[0011] The spatiotemporal process scheduling and coordination module is connected to the spatiotemporal resource management module and the spatiotemporal process management module respectively, and is used to select the airspace properties and scheduling strategies according to the properties of the required spatiotemporal resources, the priority and real-time requirements of the spatiotemporal process, so as to realize the scheduling and coordination of the spatiotemporal process, wherein the spatiotemporal process is a basic unit of flight resource allocation and scheduling with an independent execution sequence.

[0012] In one implementation, the spatiotemporal resource management module includes:

[0013] A spatiotemporal resource table, which is used to represent, store, and manage spatiotemporal resources in the spatiotemporal OS;

[0014] The spatiotemporal resource calling interface is the management interface of the spatiotemporal resource management module for spatiotemporal resources, which is used to realize spatiotemporal resource allocation, spatiotemporal resource release, spatiotemporal resource intersection judgment, spatiotemporal resource adjacent query and spatiotemporal resource update.

[0015] In one implementation, the spatiotemporal resource table includes a spatiotemporal resource node, which is used to represent occupied spatiotemporal resources; the spatiotemporal resource node includes:

[0016] A status recording module, used to reflect various states and attributes of the spatiotemporal resources corresponding to the spatiotemporal resource nodes;

[0017] The 4D geometric expression module is used to reflect the geometric size and characteristics of the real spatiotemporal resources corresponding to the spatiotemporal resource nodes.

[0018] In one implementation, the spatiotemporal process management module includes:

[0019] A spatiotemporal process table, which is used to represent and manage spatiotemporal processes;

[0020] The space-time process calling interface is used to operate and manage the space-time process to achieve control of functions at the space-time OS kernel level and the space-time process level.

[0021] In one implementation, the functions at the spatiotemporal OS kernel level include: process creation, process deletion, process suspension, process resumption, and process exit; the functions at the spatiotemporal process level include: process program call, process resource addition, process resource deletion, process status update, adjacent process query, process command addition, and process command deletion.

[0022] In one implementation, the spatiotemporal process table includes:

[0023] The spatiotemporal process status recording module is used to record the parameters and operating status of the spatiotemporal process for the flight mission represented by the spatiotemporal process;

[0024] The time and space resource occupancy table is used to indicate the time and space resource usage during the flight;

[0025] The process task program queue is used to reflect the space-time process execution program generated according to the flight plan content corresponding to the space-time process.

[0026] In one implementation, the system also includes: a safety module and a low-altitude federation module. The safety module is used to ensure flight safety, including rules and constraints for various types of space-time resources and space-time processes. The low-altitude federation module is used to provide distributed expansion support for the space-time resource and space-time process management systems.

[0027] In a second aspect, the present disclosure further provides a flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system described in the above solution, the method comprising:

[0028] During the execution of the spatiotemporal process, obtaining the real-time status of the spatiotemporal process, the spatiotemporal resources planned to be occupied, and the real-time status of the surrounding environment;

[0029] Acquire several preset event triggering conditions and monitor the triggering results of the event triggering conditions;

[0030] Determine, according to the trigger result, a processing procedure corresponding to the trigger result;

[0031] Obtaining the aircraft's own response capability and spatiotemporal resource configuration, and selecting a scheduling strategy based on the scheduling priority and real-time performance of the spatiotemporal process;

[0032] Based on the scheduling strategy, flight scheduling is achieved.

[0033] In one implementation, determining a processing procedure corresponding to the trigger result includes:

[0034] Determining a triggered condition based on the trigger result;

[0035] If the triggered condition is a device failure, determining that the processing procedure is a preset fault emergency scenario processing solution;

[0036] If the triggered condition is an inter-process conflict warning, the processing procedure is determined to call the corresponding spatiotemporal resource calling interface to interrupt the conflicting spatiotemporal process.

[0037] In one implementation, implementing flight scheduling based on the scheduling strategy includes:

[0038] If the scheduling strategy is dynamic time scheduling of space-time resources, then the usage time of conflicting space-time resources is staggered;

[0039] If the scheduling strategy is to perform dynamic spatiotemporal resource allocation, the spatiotemporal resources used within a future preset time are reallocated.

[0040] In one implementation, the method further includes:

[0041] Obtaining preset flight plan information, and if the flight plan information is for a normal flight, creating a first spatiotemporal process and an execution program corresponding to the first spatiotemporal process;

[0042] determining the occupancy status of the spatiotemporal resource data according to the execution program;

[0043] If the occupancy status indicates that the spatiotemporal resource data is not occupied, allocating the spatiotemporal resource data to the first spatiotemporal process;

[0044] Execute the execution program corresponding to the first spatiotemporal process.

[0045] In one implementation, the method further includes:

[0046] If the flight plan information is a flight plan modified by the user, an instruction adding operation or an instruction deleting operation is performed on the execution program corresponding to the first spatiotemporal process;

[0047] If an instruction deletion operation is performed on the execution program corresponding to the first spatiotemporal process, the spatiotemporal resource data corresponding to the deleted instruction is released.

[0048] In one implementation, the method further includes:

[0049] If the flight plan information is a pre-flight anomaly, a second space-time process is created, and the priority of the second space-time process is higher than that of the first space-time process;

[0050] determining whether the second space-time process conflicts with the first space-time process;

[0051] If a conflict occurs, the spatiotemporal resource data of the first spatiotemporal process is allocated to the second spatiotemporal process.

[0052] In one implementation, the method further includes:

[0053] If the flight plan information is an in-flight anomaly, determining anomaly information encountered during execution of the execution program corresponding to the first spatiotemporal process;

[0054] According to the exception information, execute the exception handling process corresponding to the exception information. Beneficial effects

[0055] Compared with the prior art, the present disclosure provides a spatiotemporal resource and spatiotemporal process management system and a flight scheduling method. The system includes: a spatiotemporal resource management module, a spatiotemporal process management module, a system event response module, and a spatiotemporal process scheduling and coordination module. The spatiotemporal resource management module is used to organize and manage spatiotemporal resources. The spatiotemporal process management module is used to manage the status of the flight process, the occupancy of spatiotemporal resources, the flight program and its execution process. The system event response module is used to respond to external events or request events. The spatiotemporal process scheduling and coordination module is used to schedule and coordinate spatiotemporal processes based on the nature of the required spatiotemporal resources, the priority and real-time requirements of the spatiotemporal processes, the nature of the airspace, and the selection of scheduling strategies. The present disclosure improves the efficient allocation and scheduling of space-time resources and space-time processes by managing space-time resources and space-time processes, thereby solving the problem of inefficient and extensive time-space resource management during flight, and improving flight efficiency as much as possible while ensuring flight safety and non-interference; and the present disclosure selects appropriate scheduling strategies according to the nature of space-time resources, the priority and real-time requirements of space-time processes, and based on appropriate scheduling can solve the problems of difficult flight management and coordinated scheduling of large-scale, high-density multiple aircraft in low-altitude scenarios, reduce the coupling of various flight operations within the system, and improve the versatility, safety, capacity and efficiency of the airspace. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1 is a system block diagram of a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0057] FIG2 is a framework diagram of a spatiotemporal resource management module in a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0058] FIG3 is a schematic diagram of an application of a method for representing CSG in a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0059] FIG4 is a schematic diagram of the union of spatiotemporal resources in a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0060] FIG5 is a schematic diagram of the intersection between spatiotemporal resources in a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0061] FIG6 is a schematic diagram of a system based on spatiotemporal resources and the difference between spatiotemporal resources in a spatiotemporal process management system provided by an embodiment of the present disclosure.

[0062] FIG7 is a framework diagram of a spatiotemporal process management module in a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0063] FIG8 is a schematic diagram of the projection of a four-dimensional spatiotemporal resource representation on a three-dimensional space XYT in an embodiment of the present disclosure.

[0064] FIG9 is a flow chart of a flight scheduling method based on a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0065] FIG10 is a flowchart of the spatiotemporal process switching between different kernels.

[0066] FIG11 is a schematic diagram of the configuration of the scheduling strategy in the flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0067] FIG12 is a flow chart of a flight scheduling method based on spatiotemporal resources and spatiotemporal process management system provided by an embodiment of the present disclosure, applied to a normal flight scenario.

[0068] FIG13 is a flow chart of a flight scheduling method based on spatiotemporal resources and spatiotemporal process management system provided by an embodiment of the present disclosure, applied to a scenario where a user modifies a flight plan.

[0069] FIG14 is a flow chart of a flight scheduling method based on spatiotemporal resources and a spatiotemporal process management system provided by an embodiment of the present disclosure, applied to abnormal scenarios during flight.

[0070] FIG15 is a functional principle diagram of a flight scheduling device based on a spatiotemporal resource and spatiotemporal process management system provided by an embodiment of the present disclosure.

[0071] FIG16 is a block diagram of the principles of a terminal device according to an embodiment of the present disclosure. Modes for Carrying Out the Invention

[0072] To make the purpose, technical solutions and effects of the present disclosure more clear and explicit, the present disclosure is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0073] Most existing flight scheduling and management solutions remain based on a static 3D airspace management perspective focused on isolated airspace (e.g., layers, zones, corridors, etc.). These solutions operate with specific applications occupying exclusive airspace, resulting in a lack of universality. There is no rational, flexible, systematic, and timely method for allocating and releasing airspace resources. Efficiency is significantly sacrificed to improve limited safety, and flight missions consume excessive amounts of space and time resources. The few solutions that consider the temporal dimension lack the ability to manage lifecycle state and continuously respond to and execute operations during the process. They are unable to dynamically adjust to actual needs and changes in aircraft density, resulting in inefficient use of low-altitude airspace. Furthermore, aircraft from different ownership groups lack information sharing. To ensure flight safety, individual aircraft must continuously monitor various information, including other aircraft and environmental dynamics. This excessive variety, volume, and complexity of information placed on aircraft hardware. In the event of conflicts, there is no rational, unified scheduling and coordination method, resulting in poor safety and reliability. Furthermore, there are no existing solutions for multi-aircraft converged flight, making it impossible to handle emergencies such as conflicts in converged flight scenarios. The existing low-altitude flight management system lacks a unified architecture, and the airspace management and flight management data and capabilities are not connected. It does not provide support capabilities for upper-level specific business applications and is too primitive.

[0074] To address the above issues, this embodiment provides a spatiotemporal resource and spatiotemporal process management system. As shown in Figure 1, the system includes a spatiotemporal resource management module 10, a spatiotemporal process management module 20, a system event response module 30, a spatiotemporal process scheduling and coordination module 40, a security module 50, and a low-altitude federation module 60. Specifically, the spatiotemporal resource management module 10 is used to represent, organize, and manage spatiotemporal resources. The spatiotemporal process management module 20 is used to manage the flight process status, spatiotemporal resource occupancy, flight programs, and their execution. The system event response module 30 is used to respond to external events or request events, where external events include equipment abnormalities and spatiotemporal resource conflicts. The spatiotemporal process scheduling and coordination module 40 is connected to the spatiotemporal resource management module 10 and the spatiotemporal process management module 20, respectively, and is used to select airspace properties and scheduling strategies based on the properties of the required spatiotemporal resources, the priority of the spatiotemporal process, and the real-time requirements, to implement scheduling and coordination of spatiotemporal processes. A spatiotemporal process is a basic unit of flight resource allocation and scheduling with an independent execution sequence. The security module 50 is used to perform security control on the spatiotemporal resource and spatiotemporal process management system, and the low-altitude federation module 60 is used to provide distributed expansion support for the spatiotemporal resource and spatiotemporal process management system.

[0075] The spatiotemporal resource of this embodiment is a collection of four-dimensional points. It combines the time dimension with the space dimension to represent the airspace in a dynamically changing manner, transforming the flight airspace into spatiotemporal resources organized and managed using efficient data structures (grids, octrees, hexadecimal trees, CSGs, etc.) or neural network models (such as Neural Fields). It provides airspace operation methods such as Boolean logic, methods for determining spatiotemporal occupancy relationships, and allocation and recovery operations.

[0076] The spatiotemporal operating system (hereinafter referred to as the spatiotemporal OS) in this embodiment draws on the hierarchical structure of computer operating systems. Its overall architecture is divided into the spatiotemporal OS kernel and the edge-end cloud computing support system. The spatiotemporal OS kernel, composed of several functional modules, runs in a distributed manner on the edge-end cloud computing support system, managing and allocating spatiotemporal processes and spatiotemporal resources, supporting the development of various low-altitude applications. The spatiotemporal OS kernel, as the core manager, connects upper-layer business applications and the spatiotemporal resources they manage, as well as the hardware facilities for monitoring and detecting spatiotemporal resources. It manages the resources of low-altitude facilities and sensors, and exchanges and communicates with the edge-end cloud computing support system through invoking the computing support system API, including data transmission and preliminary processing. Upper-layer business applications rely on the spatiotemporal resources managed by the spatiotemporal OS kernel and the services and data provided by the edge-end cloud computing support system, through which they interact with the lower-layer low-altitude facilities and sensors.

[0077] As shown in Figure 2, the spatiotemporal resource management module 10 in this embodiment includes a spatiotemporal resource table 110 and a spatiotemporal resource call interface 120. The spatiotemporal resource table 110 is used to represent, store, or manage spatiotemporal resources in the spatiotemporal OS. The spatiotemporal resource call interface 120 is the spatiotemporal resource management module's interface for managing spatiotemporal resources, and is used to implement spatiotemporal resource allocation, spatiotemporal resource release, spatiotemporal resource intersection determination, spatiotemporal resource adjacency query, and spatiotemporal resource updates.

[0078] Specifically, the spatiotemporal resource table 110 of this embodiment includes the storage and representation of spatiotemporal resources, related functional modules, and interfaces, and is represented in the form of spatiotemporal resource nodes. The spatiotemporal resource table 110 is represented as spatiotemporal resource nodes, such as spatiotemporal resource node 1 and spatiotemporal resource node 2 in Figure 2. Spatiotemporal resource nodes represent occupied spatiotemporal resources, helping the spatiotemporal OS kernel achieve more efficient allocation and access when allocating and managing spatiotemporal resources. By representing different spatiotemporal resource nodes, the system can allocate memory to different processes or threads as needed, achieving better memory utilization and performance. The spatiotemporal resource node of this embodiment includes a status record block and a 4D geometry expression module. The status record block reflects the various states and attributes of the spatiotemporal resource corresponding to the spatiotemporal resource node, including the spatiotemporal resource node ID (4D_block_id), the weather status of each coordinate point within the spatiotemporal resource node, spatial fusion attributes, the ground population density corresponding to the spatiotemporal resource node, and spatiotemporal resource occupancy attributes (indicating whether the spatiotemporal resource node is occupied). The occupancy status of spatiotemporal resources includes: spatiotemporal process occupancy, geographical environment occupancy, policy control occupancy (controlled areas / electronic fences), and illegal flight occupancy. The 4D geometric expression module is used to reflect the geometric size and characteristics of the real spatiotemporal resources corresponding to the spatiotemporal resource nodes. Due to their high dimensionality and complex structure, they cannot be simply defined using parameters. Therefore, representation methods that construct high-dimensional complex geometric structures are required, such as multidimensional grids, CSGs, and neural fields. The Constructive Solid Geometry (CSG) of this embodiment is a method for constructing complex geometric shapes based on geometric primitives (such as spheres, cubes, and cylinders) and a series of logical set operations (such as union, intersection, and difference). By applying set operations, multiple geometric primitives can be combined into more complex geometric shapes. It can also implement logical and computational judgments on the occupancy relationship of spatiotemporal resources (such as intersection, distance, volume, flux, divergence, and other computational capabilities). Specifically, as shown in Figure 3, obstacles are combined with prohibited areas such as no-fly zones to obtain the airspace range with all obstacle attributes within the airspace; the total suitable airspace is subtracted from the airspace with obstacle attributes to obtain the current true suitable airspace; and the flight routes that meet the flight conditions are intersected to obtain a complete and usable flight route.

[0079] The neural field uses implicit functions to output the SDF (Signed Distance Field) and color density of points in high-dimensional space. By implicitly representing the coordinate point field, it overcomes the limitations of traditional geometric modeling methods based on polygonal meshes or surfaces and can handle complex geometric structures and subtle details.

[0080] The spatiotemporal resource calling interface 120 (i.e., the spatiotemporal resource API in FIG2 ) in this embodiment is a process for the spatiotemporal resource management module to manage spatiotemporal resources, which includes:

[0081] Register the spatiotemporal resources managed by the spatiotemporal OS kernel init(kernel_id,4D_region): Initialize the spatiotemporal resource module of the spatiotemporal OS kernel, that is, register the spatiotemporal resource region managed by the spatiotemporal OS kernel.

[0082] Spatiotemporal resource allocation allocate(kernel_id,4D_block_desc): When the spatiotemporal process applies for the spatiotemporal resources required for flight from the spatiotemporal resource management module of the specified spatiotemporal OS kernel, the specified spatiotemporal OS kernel calls the spatiotemporal resource allocation interface to change the spatiotemporal resource occupancy attribute to allocated. The input parameters are the specific geometric description information of the spatiotemporal resources to be applied for, such as the expression using methods such as CSG and Nerf. For example, when using the CSG method, the input content is the parameters of the geometric body of the minimum standard shape of CSG;

[0083] Spatiotemporal resource release free (kernel_id, 4D_block_id): The spatiotemporal OS kernel calls the release interface to change the occupancy attribute of the spatiotemporal resource to free;

[0084] Spatiotemporal resource intersection judgment queryIntersection(kernel_id,4D_block_id1,4D_block_id2): Enter the IDs of two spatiotemporal resources, and the system will call the intersection judgment interface to determine whether there is an intersection;

[0085] Spatiotemporal resource proximity query KNNBlockList(kernel_id, 4Dblock id, neighboring_criteria): The system calls the spatiotemporal resource proximity query interface and uses the KNN algorithm to query the geometric configurations of other occupied spatiotemporal resources adjacent to the specified spatiotemporal resource geometry. The query principle is defined by neighboring_criteria, which determines the number of nearest neighbor data points to be selected and how to calculate the distance between data points. For example, it is set to select K nearest neighbor data points in terms of Euclidean distance.

[0086] Spatiotemporal resource modification update (kernel_id, 4D_block_id, operation, operation_parameters): The spatiotemporal resource update interface is essential for the real-time update of spatiotemporal resource tables based on actual conditions. It is mainly divided into state attribute updates and geometric expression updates. Specifically, the following spatiotemporal geometry operations can be performed:

[0087] 1) Union(kernel_id,4Dblock_1,4Dblock_2): The union of spatiotemporal resources, i.e., two spatiotemporal resources of arbitrary shapes, are the collective space consisting of the point sets of one or the other, similar to the union of sets. As shown in Figure 4, when two spatial resources in the form of aerial corridors are both unoccupied at a certain moment, through dynamic adjustment, the union of the two corridor-shaped spatiotemporal resources is taken as the idle spatiotemporal resource.

[0088] 2) Intersect(kernel_id, 4Dblock_1, 4Dblock_2): The intersection of spatiotemporal resources, i.e., the set space consisting of elements belonging to one and to the other of two spatiotemporal resources of arbitrary shapes, similar to the intersection of sets, as shown in Figure 5. When two spatiotemporal processes are running, conflicts may occur. Intersection judgment is required to identify the conflicting spatiotemporal resources for subsequent query and scheduling coordination.

[0089] Based on the above two basic operations, the following derivative operations can be derived:

[0090] Minus(kernel_id, 4Dblock_1, 4Dblock_2): The difference between spacetime resources. This is the difference between any two shapes of spacetime resources, that is, the remaining spacetime resources after subtracting B from A, as shown in Figure 6. Taking the spacetime resources in a free space as an example, if there are three spacetime processes occupying the corresponding spacetime resources at a certain moment in the spatial domain, the spacetime resources occupied by these three spacetime processes need to be subtracted from the original block of free spacetime resources. The remaining spacetime resources are stored in the free spacetime resources for resource allocation.

[0091] Complement(kernel_id, 4Dblock_1, 4Dblock_2): complement of a spatiotemporal resource. For example, if there is a spatiotemporal resource A that is a subset of spatiotemporal resource B, then the complement of A is the set of all points in spatiotemporal resource B that are not in spatiotemporal resource A. This corresponds to the probability distribution methods of the above set operations, such as Neural Fields and Signed Distance Fields.

[0092] The above-mentioned updates of the spatiotemporal resources update the various data in the status record block 111. There are two sources: (1) operations from the owner of the spatiotemporal process; (2) uncontrollable operations from the outside world. For example, the spatiotemporal process reports data (which can be understood as, during the flight process, each time the aircraft flies forward, the previously occupied resources are released from the occupied state, and the newly occupied spatiotemporal resource attributes are changed to process occupation), and the environmental occupation attributes of the spatiotemporal resources are updated in real time. For example, the status of spatiotemporal resources is updated through external environmental change detection: weather, ground conditions and other information are updated through corresponding environmental detection data; the data for updating the occupation attribute is mainly based on the environmental detection of CNS+X equipment (for example, meteorological information: if there is heavy rain in a certain area, the spatiotemporal resources in the area cannot be used during this period, and the occupation attribute is geographical environment occupation; the spatiotemporal resources occupied by illegal aircraft are marked as illegal aircraft occupation, etc.).

[0093] Safety and efficiency are currently conflicting objectives during low-altitude flight. Conventional approaches employ coarse-grained static partitioning of the airspace, sacrificing efficiency to ensure the safety of aircraft within isolated airspaces. This results in a significant waste of spatial and temporal resources. Temporal processes are a novel modeling approach for flight mission processes that addresses these challenges, maximizing both efficiency and safety. A temporal spatial process is a fundamental unit of flight resource allocation and scheduling with an independent execution sequence. Treated as an independent execution unit, it requires the necessary spatial and temporal resources and system support, and provides a mechanism for managing and controlling concurrently executing flight missions.

[0094] As shown in FIG7 , the spatiotemporal process management module 20 of this embodiment includes: a spatiotemporal process table 210 and a spatiotemporal process calling interface 220 (i.e., the spatiotemporal process API in FIG7 ). The spatiotemporal process table 210 is used to represent and manage spatiotemporal processes. Each spatiotemporal process in the spatiotemporal process table 210 is represented by a spatiotemporal process node, such as time process node 1 and spatiotemporal process node 2 in FIG7 . The spatiotemporal process node is composed of multiple parts, including: a spatiotemporal process status recording module, which is used to record the parameters and operating status of the spatiotemporal process for flight missions represented by spatiotemporal processes; a spatiotemporal resource occupancy table, which is used to indicate the usage of time and space resources during flight; and a process task program queue, which is used to reflect the spatiotemporal process execution program generated according to the flight plan content corresponding to the spatiotemporal process.

[0095] Specifically, the spatiotemporal process status recording module uses the flight mission represented by the spatiotemporal process to record the parameters and operating status of the spatiotemporal process, including the following:

[0096] Process ID: When a spatiotemporal process is created, the spatiotemporal OS kernel (i.e., the spatiotemporal resource and spatiotemporal process management system kernel in this embodiment) assigns a unique, non-duplicate ID to the spatiotemporal process to distinguish different processes;

[0097] Spatiotemporal process state parameters: refers to the parameters that change in real time during the execution of the spatiotemporal process:

[0098] Current position: the space-time resources currently occupied by the space-time process during execution;

[0099] Flight speed / acceleration: The current speed / acceleration of the aircraft, which can be horizontal or vertical;

[0100] Attitude: The attitude of the aircraft in the air, including pitch, roll and yaw angles.

[0101] Spatiotemporal process status: records the current spatiotemporal process status, such as Ready, Running, Blocked, Created, Terminated, etc.

[0102] Time and space process priority: used to determine the execution order of processes during process scheduling. Processes with higher priorities are executed first during scheduling.

[0103] Real-time performance of spatiotemporal processes: divided into soft real-time and hard real-time. Soft real-time allows spatiotemporal processes to have slight delays under certain circumstances, while hard real-time strictly requires that spatiotemporal processes run and complete on time as planned.

[0104] A spacetime process requires a certain amount of spacetime resources during operation, representing the time and space resource usage during flight. The model structure for the spacetime resource usage during flight is a 4D+ spacetime volume model composed of a large number of four-dimensional points (time dimension t, space dimensions x, y, z) and other flight process parameters, as shown in Figure 8. Compared to existing flight plan airspace schemes where the spatial dimensions remain unchanged, the specific shape of the spacetime resource usage of a spacetime process is influenced by factors that influence the size of the spacetime resources. These 4D+ factors primarily depend on static state information such as aircraft performance indicators (flight speed, acceleration, pitch angle, etc.) and flight control parameters (stability, yaw distance, etc.), as well as dynamic state information such as the environment and energy consumption (wind speed, current battery charge, etc.). The shape is a level set function of dynamic and static parameters, with f(pstatic, pdynamic) = 0. The spatiotemporal process can organize and manage spatiotemporal resources using efficient data structures (Sangl, octree, hextree, CSG, SDF, etc.) and spatial occupancy probability distribution parameterized by neural networks (Neural Fields), supporting various resource operations such as spatiotemporal resource overlap detection, resource recovery, and spatiotemporal continuity optimization.

[0105] The spatiotemporal resource occupancy of a spatiotemporal process is represented by a spatiotemporal resource occupancy table 212. This table records and displays the spatiotemporal resource occupancy of a spatiotemporal process node. It is typically used to monitor and evaluate spatiotemporal resource usage, including information such as occupied and planned spatiotemporal resources. The spatiotemporal resource occupancy table can be expressed using methods such as neural fields.

[0106] The spatiotemporal resource occupancy table of this embodiment mainly contains the following contents:

[0107] Spacetime (planned) occupied path point list: indicates the spacetime resources that the spacetime process corresponding to the spacetime process node needs to occupy in the future according to the plan;

[0108] List of space-time (actual) occupied path points: indicates the space-time resources currently actually occupied by the space-time process corresponding to the space-time process node.

[0109] This embodiment generates a spatiotemporal process execution program according to the flight plan content corresponding to the spatiotemporal process, and obtains a process task program queue, which includes a continuous instruction queue (such as takeoff, acceleration, deceleration, and turning), flight instruction activation conditions (the condition can be empty, indicating unconditional execution), etc., specifically including:

[0110] Process instructions: instructions during the execution of the space-time process, including general instructions such as takeoff, landing, hovering, and moving forward;

[0111] Flight command activation judgment: The activation of some flight commands requires corresponding judgment conditions. For example, the execution of the landing command requires that the current position of the aircraft is within the landing range of the take-off and landing field.

[0112] Emergency situation judgment (interruption judgment): define multiple thresholds to indicate an emergency situation (for example, the distance between the space-time process and the nearest space-time process is less than the threshold), and this judgment needs to be executed throughout the entire life cycle of the space-time process execution. When in an emergency situation, enter the emergency instruction execution queue.

[0113] The spatiotemporal process call interface 220 of this embodiment is a set of functions and methods provided by the low-altitude kernel for operating and managing spatiotemporal processes. This interface is used to operate and manage spatiotemporal processes, enabling control of functions at both the spatiotemporal OS kernel level and the spatiotemporal process level. Using this interface, you can create, control, synchronize, communicate with, and terminate spatiotemporal processes, as well as obtain information about them. The spatiotemporal process call interface 220 for a spatiotemporal process is as follows:

[0114] 1. Space-time OS kernel level:

[0115] Process creation create() interface: used to create a new space-time process, assign it space-time process description information (ID), process priority and other initialization information, and create the corresponding space-time process node in the space-time process table;

[0116] Process deletion delete (pid) interface: delete the time-space process information that does not need to be saved from the time-space process table;

[0117] Process Suspend (pid) interface: Suspends the execution of a spatiotemporal process. This is done by the spatiotemporal OS kernel based on the needs of spatiotemporal resource scheduling, causing it to temporarily stop running and temporarily free up spatiotemporal resources, but does not terminate the execution of the process. The suspended process can be resumed later.

[0118] Process recovery resume (pid) interface: restore the suspended time and space process to its original state;

[0119] Process exit (pid) interface: refers to the process of a spatiotemporal process terminating its execution and exiting when it is completed or encounters an error. When a spatiotemporal process completes its task or reaches its end point, it terminates normally by executing an exit operation. When the process exits, it releases the spatiotemporal resources it occupies, and its identification in the system (such as the process ID) is also released. In certain emergency situations, a spatiotemporal process may terminate abnormally due to an error or abnormal situation. When the status judgment output is abnormal, the spatiotemporal OS kernel usually receives a signal that the process has terminated abnormally and can take corresponding measures based on the processing strategy, such as using emergency instructions (such as hovering, requesting manual intervention).

[0120] 2. The space-time process itself:

[0121] Process program calling interface, namely insertProcessProgram (pid, condition, commands, parameters): It is used to define the execution queue of the instructions of the space-time process after it is created. Through this process program calling interface, the execution program of the space-time process is added, including the instruction queue of the entire process from takeoff to landing, various condition judgments and related instructions, etc., which is similar to an execution program;

[0122] Process resource adding interface, namely InsertPlannedWaypoints(pid, waypoint_list): used for adding the space-time resources used by the space-time process and the corresponding space-time resource tables of different space-time OS kernels (if the trajectory of the space-time process has space-time resources managed by different space-time OS kernels) after the space-time process generates its command execution queue (i.e., executes the program). It is expressed in the planned waypoints format and corresponds to each specific command in the above program, that is, one command corresponds to a part of waypoints;

[0123] The process resource deletion interface, namely removePlannedWaypoints(pid, waypoint_list): is used to delete the specified content in the spatiotemporal resource waypoints list corresponding to the spatiotemporal process;

[0124] Process status update interface, updateTruth(pid, waypoint_list, pose, velocity...): used to update the spatiotemporal process status (current position, velocity, acceleration, attitude, etc.) information. For example, when the self-reported data is inconsistent with the external sensor observation data, the data recorded in the process status needs to be updated;

[0125] Process query interface, i.e. KNNProcess_list(pid, neighboring_criteria): used to output the IDs of other spatiotemporal processes around by selecting the KNN algorithm and neighboring criteria;

[0126] Process command adding interface, InsertProcessCommand (pid, command, parameter): The system can directly add a new command to the program of the space-time process by calling this process command adding interface, for example, directly add a new execution instruction to the space-time process through the space-time OS kernel;

[0127] Process command deletion interface, RemoveProcessCommand (pid, command, parameter): The system can directly delete the existing command in the program of the space-time process by calling this process command deletion interface.

[0128] Furthermore, event triggering and response within the spatiotemporal OS kernel is a spatiotemporal process mechanism used to process external events (such as hardware device failures, predicted conflicts, etc.) or requests (such as human intervention) in specific situations. When external events occur or users initiate system calls, the system event response module 30 of this embodiment must respond to these events, executing corresponding operations and responding. Common event responses include:

[0129] Fault event: triggered by external equipment, a fault occurs;

[0130] Ontological failure: For example, the aircraft itself fails;

[0131] Infrastructure failure: failure of the system's hardware infrastructure (e.g., ground sensors, system servers, etc.);

[0132] Spatiotemporal resource conflict event: triggered when a conflict occurs when a process uses spatiotemporal resources, such as spatiotemporal process conflict, spatiotemporal resource application error, etc.

[0133] Space-time process conflict: When a space-time process conflicts with a higher priority space-time process, a space-time process conflict exception will be triggered. For example, emergency tasks such as firefighting may conflict with the space-time resources planned to be occupied by the original flight mission.

[0134] Space-time resource application exception: When a space-time process attempts to apply for / occupy space-time resources that have already been occupied by the plan, a space-time resource application exception will be triggered.

[0135] External environmental events: triggered by changes in the external environment, which can cause abnormal events to occur:

[0136] Abnormal weather: When the weather changes and reaches the threshold of severe conditions, an abnormal weather event is triggered;

[0137] Command event: A high-priority regulatory command issued by a regulatory department conflicts with the execution command of an existing space-time process, triggering a command conflict event.

[0138] When the triggering conditions for an event take effect, the system's event response mechanism is triggered. The system immediately interrupts the currently executing instructions of the spatiotemporal process and calls the corresponding pre-defined handler / service routine. The handler is responsible for processing the specific response event, performing the corresponding operation, and then returning to the user program to resume execution of the interrupted spatiotemporal process.

[0139] In this embodiment, event triggering conditions refer to the conditions within the spatiotemporal OS kernel that trigger the event response mechanism. When these conditions occur, the system is notified that the event response mechanism has been triggered, pausing the spatiotemporal process to execute the program and handle the event. Triggering conditions can originate from hardware devices or be system-generated, with different types of triggering conditions corresponding to different response events.

[0140] When the flight process triggers an event response mechanism, it generates a series of dedicated flight instructions for emergency situations, known as event response handlers. Once the event response mechanism is triggered, the flight process calls the corresponding handler or service routine based on the triggering conditions to handle the event and execute the program's command queue. These instructions take into account the aircraft's perception and coordination capabilities. When the aircraft possesses simple response and scheduling capabilities, the handler is automatically triggered to perform simple operations such as hovering and deceleration. When the aircraft possesses both response and perception capabilities, the instructions in its command queue take the current process status and perception content as input, enabling intelligent, autonomous, and real-time dynamic coordination and scheduling.

[0141] Based on the above embodiments, the present disclosure provides a flight scheduling method for a spatiotemporal resource and spatiotemporal process management system, as shown in FIG9 , the method comprising:

[0142] Step S100: During the execution of the spatiotemporal process, the real-time status of the spatiotemporal process, the planned occupied spatiotemporal resources, and the real-time status of the surrounding environment are obtained;

[0143] Step S200: obtaining a plurality of preset event triggering conditions, and monitoring the triggering results of the event triggering conditions;

[0144] Step S300: determining a processing procedure corresponding to the trigger result according to the trigger result;

[0145] Step S400: Acquire the aircraft's own response capability and spatiotemporal resource configuration, and select a scheduling strategy based on the scheduling priority and real-time performance of the spatiotemporal process;

[0146] Step S500: Implement flight scheduling based on the scheduling strategy.

[0147] In specific applications, during the execution of a spatiotemporal process, this embodiment continuously monitors whether event trigger conditions are met, thereby obtaining a trigger result. If the event trigger condition is met, the trigger result determines that the condition has been triggered. The system then responds by pausing the currently executing program of the spatiotemporal process and executing the handler corresponding to the triggered condition. The event trigger conditions of this embodiment primarily include: whether there is a hardware failure in the aircraft, whether there is a conflict with other spatiotemporal processes in the spatiotemporal process's vicinity (by calling the KNNProcess_list(pid, neighboring_criteria) and KNNBlockList(block id, neighboring_criteria) interfaces), and whether the spatiotemporal resources planned for the spatiotemporal process are already occupied by other processes. When the event trigger condition is met, the suspend(pid) call interface is invoked to suspend the spatiotemporal process, select an appropriate handler, and execute it. Next, this embodiment determines the corresponding handler based on the triggered condition. If the triggered condition is a hardware device failure (for example, an aircraft fails during flight), the processing program mainly includes emergency scenarios for self-failures such as hovering and cutting into an alternate landing route. If the triggered condition is an inter-process conflict warning, the processing program is determined to call the corresponding spatiotemporal resource call interface to interrupt the conflicting spatiotemporal process. In specific applications, the processing program needs to refer to the scheduling module processing process during the execution of the spatiotemporal process and call its related spatiotemporal resource call interface implementation. After the processing program is executed, the system will restore the saved spatiotemporal process context based on the processing results, and call resume (pid) process recovery (this is a calculation process, process context + interrupt execution program end result, so as to obtain the position where the process is restored), and then continue to execute the interrupted process.

[0148] Safety is the primary prerequisite for the use and management of low-altitude airspace. Without safety, nothing can be achieved. The spatiotemporal OS kernel must always prioritize safety when managing flight resources and processes to ensure flight safety. The safety module 50 in this embodiment is used to ensure flight safety and includes rules and constraints related to various spatiotemporal resources and processes. Specific examples are as follows:

[0149] Space-time resource distance restriction: It stipulates that there is a minimum distance restriction between occupied space-time resources and occupied space-time resources. When applying for space-time resources, it is necessary to call the space-time resource surrounding query space-time resource calling interface to ensure that this restriction is met;

[0150] Space-time process occupancy limit: It stipulates that a space-time process can only fly within the space-time resources allocated to it, and has an offset limit to prevent mid-air collisions with other aircraft;

[0151] Space-time process distance limit: stipulates the minimum distance limit between the space-time process and other space-time processes, illegal flight intrusions, obstacles, etc. to ensure safety;

[0152] Process coordination scheduling safety limit: the minimum interval limit of the scheduling strategy for coordinating the scheduling of spatiotemporal processes during process coordination scheduling;

[0153] Emergency handling: The minimum interval limit for emergency response procedures. In the event of an emergency, the system event response mechanism can be triggered and the space-time process can execute the corresponding emergency handling procedures to ensure safety.

[0154] Because the system for organizing and managing spatiotemporal processes has high reliability requirements and requires extremely strong scalability to facilitate coverage from local to the entire urban low-altitude airspace, and the urban airspace has a large coverage area and volume, and needs to span multiple geographical locations. At the same time, it is also necessary to allow users to access and share spatiotemporal resources at different locations. In order to ensure the timeliness and reliability of spatiotemporal resource management, the overall system is a distributed system composed of multiple spatiotemporal OS kernels. Different spatiotemporal OS kernels manage spatiotemporal resources in different regions according to geographical boundaries, time, industry, etc., and distributed expansion support is provided by the low-altitude federal module 60 within the spatiotemporal OS kernel.

[0155] A spatiotemporal OS kernel represents and manages spatiotemporal resources within a region, as well as spatiotemporal processes within the scope of its spatiotemporal resource table. When spatiotemporal resources required by a spatiotemporal process reside in different spatiotemporal resource tables managed by the spatiotemporal OS kernel, the spatiotemporal process may need to migrate between these tables. The core functionality of spatiotemporal process migration is accomplished by invoking the corresponding spatiotemporal resource call interface within the low-altitude federation module 60, ensuring that spatiotemporal process execution is transferred from one node to another for process handover. The entire migration process must consider the integrity and data consistency of spatiotemporal resources and processes to ensure that critical process data is not lost or damaged during the migration process.

[0156] In addition, process handover also requires consideration of communication and synchronization mechanisms to ensure that the process can run correctly on the target node and interact with other processes. In a distributed system, communication and collaboration may be required between spatiotemporal processes on different aircraft. Distributed spatiotemporal OS provides corresponding communication mechanisms, such as message passing, remote procedure calls, and shared memory, so that spatiotemporal processes can exchange data and information between different nodes. Because spatiotemporal processes execute concurrently in a distributed system, process synchronization is required to ensure data consistency and correctness. Distributed operating systems provide various synchronization mechanisms, such as mutex locks, semaphores, and condition variables, to achieve coordination and synchronization between processes.

[0157] The spatiotemporal resource migration interface transfer(from_kernel_id, to_kernel_id, pid): is used to migrate the specified spatiotemporal process that needs to be migrated from the spatiotemporal resource table of one spatiotemporal OS kernel to the spatiotemporal resource table of another spatiotemporal OS kernel.

[0158] Specific process:

[0159] When allocating resources, the spatiotemporal process allocates spatiotemporal resources based on flight plan occupancy (e.g., waypoints). If the allocated spatiotemporal resources cross spatiotemporal OS kernels, the continuity of spatiotemporal resource allocation must be clearly defined and guaranteed.

[0160] During the execution of the spatiotemporal process, the allocated spatiotemporal resources are continuously occupied, and the process is judged to see whether they belong to the spatiotemporal resource table managed by the current spatiotemporal OS kernel. If so, the process continues to execute. If the spatiotemporal resources to be occupied do not belong to the spatiotemporal resources managed by the current spatiotemporal OS kernel, the spatiotemporal process needs to be handed over.

[0161] After the cross-spacetime OS kernel handover judgment is met, the spacetime resource migration interface transfer (kernel_from, kernel_to, pid) is called to migrate the spacetime process from spacetime OS kernel1 to spacetime OS kernel2, and continue to execute the normal process, as shown in Figure 10.

[0162] During the execution of a spatiotemporal process, due to special circumstances such as future spatiotemporal resources being occupied, for example, there are high-density flight missions in a specific area, which makes the spatiotemporal resources in that area saturated and unable to allocate the original spatiotemporal resources in the plan to the spatiotemporal process, the state of the spatiotemporal process needs to change and enter the adjustment state. Spatiotemporal processes are real-time tasks that must be completed within the predetermined time range and are key to ensuring the normal operation or response of the system. Spatiotemporal processes have different real-time characteristics, which can be divided into soft real-time and hard real-time:

[0163] Soft real-time: In a soft real-time approach, the system prioritizes spatiotemporal processes but does not guarantee their completion within strict deadlines. Soft real-time systems aim to complete critical tasks as quickly as possible while maintaining overall system stability. To ensure that high-priority spatiotemporal processes complete on time, lower-priority spatiotemporal processes can be scheduled to run later, slightly beyond their planned deadlines, rather than within their strict deadlines.

[0164] Hard real-time: In a hard real-time approach, the system provides strict guarantees for spatiotemporal processes, ensuring they complete within their specified deadlines. High-priority spatiotemporal processes typically exhibit hard real-time characteristics, and they often involve specialized scheduling algorithms and mechanisms to meet strict timing requirements. Tasks with strict deadlines take precedence over all other system activities.

[0165] In specific applications, this embodiment can obtain the aircraft's own response capabilities and spatiotemporal resource configuration, and then select an appropriate scheduling strategy based on the scheduling priority and real-time requirements of the spatiotemporal processes. The system of this embodiment provides different scheduling strategies, such as FIFO (First-In-First-Out) and SCHED_DEADLINE, which prioritize hard real-time tasks. The scheduling strategy selected in this embodiment can be used to implement flight scheduling.

[0166] In one implementation, a large number of spatiotemporal processes are running in parallel in low-altitude scenarios. This can be viewed as a multi-spatiotemporal process. During execution, each spatiotemporal process instance needs to perform the following judgments and operations during the full lifecycle of the spatiotemporal process:

[0167] First, this embodiment obtains real-time status, specifically through detection data from hardware sensor devices such as CNS+X and data actively reported by aircraft, to obtain the real-time status of the spatiotemporal process, the real-time status of the planned occupied spatiotemporal resources and the surrounding environment, and the status of regulatory instructions such as air traffic control. By calling the adjacent process query KNNProcess_list (pid, neighboring_criteria) spatiotemporal resource calling interface to query the status of other processes around the spatiotemporal process, and calling the spatiotemporal resource proximity query KNNBlockList (block id, neighboring_criteria) interface to query the occupancy of other spatiotemporal resources that are close to the location of its own spatiotemporal resources.

[0168] Next, this embodiment defines various thresholds based on the acquired information about adjacent spatiotemporal processes and their status, as well as the occupancy of surrounding spatiotemporal resources, to indicate whether a spatiotemporal process pause / resume condition is triggered. This determines whether the event trigger condition is met and obtains a trigger result. For example, if the distance between the spatiotemporal process and the nearest spatiotemporal process is less than a threshold, a pause event condition is triggered, initiating coordinated scheduling. If the distance between the spatiotemporal process and the nearest spatiotemporal process is greater than a threshold, a resume event condition is triggered, resuming the original spatiotemporal process execution command. If the event trigger condition is met, execution proceeds to the next step; otherwise, the previous step is repeated to obtain the real-time status.

[0169] Furthermore, this embodiment determines the triggered condition based on the above trigger result, and determines the processing procedure corresponding to the triggered condition. Specifically, this embodiment can be divided into two cases:

[0170] When an interrupt condition is triggered, the current spacetime process needs to be interrupted and suspended. Specifically, suspend(pid) can be called to suspend the original execution instruction queue and execute the instructions corresponding to the corresponding interrupt handler. First, a scheduling strategy needs to be determined. Based on the occurrence situation, the aircraft's ability to respond to scheduling, the spacetime resource configuration, the real-time nature of the process itself, and the priority, the appropriate scheduling strategy is selected by calling the RulesSelect interface. Then, the selected scheduling strategy is executed and the interrupt handler corresponding to the triggering condition of the interrupt event is called. The processing commands are divided into two categories:

[0171] One scheduling method involves dynamic time scheduling of spacetime resources, staggering the use of conflicting spacetime resources. For example, an aircraft can be placed in a hovering or circling waiting state, occupying only the currently allocated spacetime resources and not occupying other new spacetime resources. The aircraft is then placed in a waiting queue until a certain condition is met (for example, spacetime resources become available at the next moment) and then the original process is resumed. This scheduling method relies on the priority sorting of spacetime processes.

[0172] Another scheduling method involves dynamically commanding spacetime resource allocation (temporarily releasing and allocating spacetime resources), reallocating spacetime resources to be used within a certain period of time. For example, if an emergency occurs in the current airspace, the future spacetime resources occupied by the spacetime process are temporarily occupied, requiring scheduling to switch to available spacetime resources (similar to changing lanes to another lane) until the original spacetime resources become available at the next moment, and then switch back (similar to changing lanes and then changing back to the original lane after returning to normal). These state transitions are managed and scheduled based on the behavior of the spacetime processes and the availability of system resources.

[0173] Next, when the resume event condition is triggered, this embodiment resumes the suspended spatiotemporal process, thereby calling the resume(pid) interface to restore the aircraft to its original planned path. This embodiment can execute the command list of the interrupt handler corresponding to the triggered event according to the scheduling priority of the spatiotemporal process. When the priorities are different, the spatiotemporal processes are executed serially; if the priorities are the same, they are executed in parallel. The command lists corresponding to the interrupt handlers are divided into the following categories:

[0174] Manual command: interrupt processing instructions manually issued by personnel, manually formulated according to the interrupt triggering situation;

[0175] Automation commands: These are pre-defined automatic processing programs that automatically respond to and process specific interrupt events and their triggering conditions. These commands can automatically trigger corresponding interrupt handling actions based on pre-defined rules and conditions, reducing the need for manual intervention.

[0176] Intelligent coordination and scheduling instructions are based on artificial intelligence technology and can make intelligent decisions and optimize scheduling based on system status, historical data and predictive models.

[0177] In one implementation, the scheduling strategy configuration interface of this embodiment, RulesSelect (pid, parameters): The core of the spatiotemporal process scheduling strategy is to switch spatiotemporal resources at the minimum cost and flexibly maintain the independence of each spatiotemporal process. It mainly depends on the corresponding scheduling capabilities of the aircraft and the spatiotemporal resource configuration. Among them, the spatiotemporal process scheduling is compatible with the response system scheduling capabilities of various types of aircraft, as well as the spatiotemporal resource configuration corresponding to the spatiotemporal process, as shown in Figure 11. Among them, the response scheduling capability of the aircraft depends on the capability of the aircraft with the lowest capability level among the aircraft participating in the scheduling. The scheduling strategies of this embodiment include: multi-level feedback scheduling, preemptive scheduling, non-preemptive scheduling, and autonomous intelligent elastic coordination, as shown in Table 1 below.

[0178] Table 1

[0179]

[0180] The flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system of this embodiment can also be applied to various types of airspace integration. Common airspace scenarios include fully isolated flights and dynamically integrated flights. For fully isolated flights, the spatial resources of isolated flights cannot be precisely expressed in both spatial and temporal dimensions, making it impossible to effectively share spatial resources with other flight missions. To address this, this embodiment transforms isolated flights into time-sharing, purely spatially isolated flights (i.e., time-integrated flights) to maintain a data structure for spatiotemporal resource occupancy, enabling precise allocation and release. Dynamically updating spatiotemporal resources achieves time-sharing isolation and spatial sharing, enabling precise time-sharing sharing of 3D spatial resources. The system of this embodiment can be configured to be compatible with existing "fully isolated flight" solutions, as well as "temporally isolated flight" and highly flexible integrated flight solutions. Users can enter the integrated flight system by following the "isolated flight" rules.

[0181] Current dynamic fused flight airspaces are plagued by issues such as the inability to achieve fused flight and the inability to dynamically allocate and release spatiotemporal resources in a refined manner. This embodiment allows for the evolution from isolated flight to dynamic fused flight, virtually imperceptibly to the user, or in other words, the simultaneous management of isolated and dynamic fused flight. Specifically, this approach utilizes time-based decomposition and combination algorithms and data structures, as well as dynamic integration of environmental changes (such as weather and unauthorized flights), to achieve the feasibility and safety of fused flight.

[0182] The following examples illustrate the application scenarios of the flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system, using four examples: normal flight, user-modified flight plan, pre-flight exception handling, and in-flight exception handling. As shown in Figure 12, the entire process input includes flight plan information and spatiotemporal resource table information. The spatiotemporal resource table information can be updated in real time via the update spatiotemporal resource call interface. Specifically, the following steps are included:

[0183] 1. First, call the create() interface to create a space-time process and assign it a process ID;

[0184] 2. After the space-time process is created, it is necessary to create the execution program of the space-time process, that is, the space-time process execution program instruction queue, including instructions and various instruction activation judgments, by calling the InsertProcessProgram (pid, condition, commands, parameters) interface;

[0185] 3. After creating the execution program of the spatiotemporal process, resources are requested for each instruction in the instruction queue of the execution program, and the occupation of the spatiotemporal resource data required by each instruction is expressed. For example, it can be expressed in the form of waypoints. By calling the Insert Planned Waypoints(pid, waypoint_list) interface, the waypoints+ required by each instruction are expressed;

[0186] 4. Determine the occupation of the spatiotemporal resource data requested by the execution program of the spatiotemporal process to determine whether it is occupied by other processes in the spatiotemporal dimension. The judgment process is mainly divided into the following two steps:

[0187] 1) By calling the KNNBlockList interface, a list of all occupied spatiotemporal resources adjacent to the requested spatiotemporal resource data is obtained;

[0188] 2) Then, use the spatiotemporal resource query intersection (_block_id1, _block_id2) to determine whether the requested spatiotemporal resource intersects with the interrupted resources in the spatiotemporal resource list in the first step. If there is no conflict with the occupied spatiotemporal resource data, the requested spatiotemporal resource data is considered unoccupied; otherwise, it is considered occupied.

[0189] 5. If the spatiotemporal resource data is not occupied, the allocate(_block_id) interface is used to allocate the corresponding spatiotemporal resource data. If not, the process may be placed in a waiting state until sufficient resources are available, and the flight plan details (flight trajectory, route, etc.) may need to be re-determined.

[0190] 6. After the space-time process allocates space-time resources, it starts executing the process's execution program and executes it step by step according to commands;

[0191] 7. During the execution of commands, the spatiotemporal process status needs to be updated in real time, which can be achieved by calling the updateTruth(pid, waypoint_list, pose, velocity...) interface;

[0192] 8. When executing the execution program of the space-time process, after completing a command or the execution of the entire process program, the space-time resource data occupied by the instruction or the entire program is released by calling the space-time resource release interface free (_block_id);

[0193] 9. Due to the release of spatiotemporal resources, the spatiotemporal resource table needs to call the spatiotemporal resource modification update (_block_id) interface to modify the spatiotemporal resources in the spatiotemporal resource table;

[0194] 10. After the process execution program is completed, the process exit exit (pid) interface is called to complete the process exit.

[0195] For user modification of flight plan, as shown in Figure 13, after the flight plan is reported, the user wants to change the flight plan. The previous space-time process creation and space-time resource application have been completed. Due to the change of flight plan, the space-time process execution program needs to be modified and new space-time resources need to be applied for the new modified content. The specific process and implementation process are as follows:

[0196] The preceding process is consistent with the normal flight scenario described above. After all spacetime resources have been allocated to the spacetime process, if the flight plan needs to be changed, that is, to add a new command or delete the original command in the spacetime process execution program, use the process command add / delete interface, that is, call InsertProcessCommand(pid, command, parameter) and RemoveProcessCommand(pid, command, parameter) to implement it.

[0197] If you need to delete the original instruction, call the removePlannedWaypoints(pid, waypoint_list) interface to delete the original track point and call the free(_block_id) interface to release the corresponding space-time resources. Then, call the InsertPlannedWaypoints(pid, command, parameter) interface to add the waypoint information according to the new instruction content and determine the occupancy of the corresponding space-time resources (refer to the occupancy determination process in normal flight). Once the conditions are met, call the allocate(block_id) interface to allocate space-time resources.

[0198] After that, the space-time process will be carried out normally, just as in a normal flight scenario.

[0199] For the application scenario of pre-flight exception handling, when multiple spatiotemporal processes in the spatiotemporal process table have not yet started execution, a spatiotemporal process with a higher priority than the original unexecuted process is created, resulting in a conflict in the occupation of spatiotemporal resources. For example, a flight plan for using drones for law enforcement missions is suddenly created and takes effect, with a higher priority than low-priority tasks such as logistics drones that are normally planned to fly in the area. It is necessary to ensure the smooth execution of this high-priority task and the safety between drones.

[0200] In specific applications, the preceding process is consistent with the normal flight described above. After creating a high-priority spacetime process, the corresponding path trajectory is created using the InsertPlannedWaypoints(pid, waypoint_list) interface according to the flight plan content, and the allocate(_block_id) interface is called to apply for the corresponding spacetime resources.

[0201] After creation is complete, the newly created spatiotemporal process is compared with the original spatiotemporal process for spatiotemporal resource conflicts by calling the queryIntersection(_block_id1, _block_id2) interface. If there is an intersection, the spatiotemporal resources occupied by the higher-priority spatiotemporal process are considered to conflict with the spatiotemporal resources of the original process. Subsequently, based on the priority relationship, the conflicting spatiotemporal resources are preferentially allocated to the higher-priority spatiotemporal process. The preempted spatiotemporal process needs to delete the preempted spatiotemporal resources by calling the removePlannedWaypoints(pid, waypoint_list) interface, and re-apply for and allocate spatiotemporal resources (refer to the process in the above embodiment for the process).

[0202] For the application scenario of in-flight exception handling, as shown in Figure 14, the previous process is the system's process for managing spatiotemporal processes and spatiotemporal resources during normal flight. When the spatiotemporal process encounters emergency situations such as interruptions during execution (for example, the aircraft suddenly encounters an aircraft body failure during normal flight, suddenly intrudes into an illegal flight while possibly on the planned path, or suddenly receives an emergency order from the air traffic control department), the ability to judge, identify, and handle interruptions is required. The following processes are divided according to different scenarios:

[0203] 1. When a fault occurs, the aircraft itself or its components malfunction or fail during normal flight, causing the aircraft to be unable to operate normally or experience performance degradation, unable to complete its flight plan, and requiring an emergency landing. The system handles this situation as follows:

[0204] 1) As previously described, the spatiotemporal process creation and execution process in the normal flight process is executed normally. After a process status update (updateTruth(pid, waypoint_list, pose, velocity...)), a problem occurs in the aircraft status monitoring value. The triggering conditions of the event response mechanism (for example, determining whether the values ​​of different aircraft states reach thresholds) are met, and the condition is met by the aircraft itself. Therefore, the event is defined as a fault event.

[0205] 2) After the trigger condition of the response time is met, the interrupt event is triggered, and the process suspend (pid) interface is called to suspend the interrupted time-space process and transfer it to the processing program;

[0206] 3) Handler selection: This is based on the system strategy and the type of response event. Since the trigger condition in this case is a vehicle failure, the interrupt handler uses the handler for the vehicle failure scenario, which means cutting into the emergency landing route and completing the landing at the alternate landing field.

[0207] 4) Interrupt handler execution;

[0208] 5) After the interrupt handler is executed, the system will restore the saved spatiotemporal process context according to the processing results;

[0209] 6) Process recovery calls the resume (pid) interface to resume the suspended space-time process, and combined with the situation after the event response processing is completed, calls the exit (pid) interface to end the process execution program.

[0210] 2. When a conflict with a non-cooperative aircraft occurs, flight conflicts are primarily categorized as non-cooperative and cooperative. Non-cooperative aircraft primarily refer to aircraft not monitored and managed by the system, such as birds and unauthorized drones. When a non-cooperative aircraft intrudes into the system's managed airspace (e.g., an unauthorized flight or flock of birds), it may conflict with aircraft operating normally within the same airspace.

[0211] When a non-cooperative aircraft is detected, the system needs to generate a prediction of its spacetime resource usage and determine whether it will conflict with the running spacetime processes. If the detection result indicates a conflict, an early warning message is sent to the aircraft's operating company or individual. The specific process is as follows:

[0212] 1) The spatiotemporal process is created and executed normally, and continuously reports its own spatiotemporal process status in real time through the updateTruth (pid, waypoint_list, pose, velocity...) interface;

[0213] 2) Determine the triggering conditions of the response event (continue to use the KNNBlockList(block id, neighboring_criteria) interface to query the proximity of spatiotemporal resources, and find that the surrounding spatiotemporal resources are occupied and the distance is less than the judgment threshold);

[0214] 3) When the conditions are met, the system will issue a risk warning to the aircraft operating company / individual corresponding to the space-time process, send the prediction results and risk level description, and urge them to respond in a timely manner.

[0215] When a non-cooperative aircraft is detected, the system needs to form a prediction of the space-time resource occupancy of the non-cooperative aircraft and determine whether there will be a resource conflict with the running space-time process. If the detection result shows that there is a conflict and the system has the ability and authority to command the aircraft, the system can trigger the coordination mechanism and issue instructions to change the flight path of the cooperative aircraft to achieve the purpose of avoidance coordination. The specific process is as follows:

[0216] 1) The spatiotemporal process is created and executed normally, and the spatiotemporal process status and surrounding spatiotemporal resource status are continuously obtained in real time through the update Truth (pid, waypoint_list, pose, velocity...) interface;

[0217] 2) Event trigger condition judgment: The spatiotemporal process continuously uses the spatiotemporal resource proximity query KNNBlockList (block id, neighboring_criteria) interface. When it finds that the surrounding spatiotemporal resources are occupied and the distance is less than the judgment threshold, it is considered that the trigger condition is met;

[0218] 3) After the event triggering conditions are met, the suspend(pid) interface is called to suspend the spatiotemporal process. The spatiotemporal process triggers the event response mechanism and is a spatiotemporal resource conflict event.

[0219] 4) Handler selection: Based on the system strategy and event triggering conditions, the handler for the conflict with the non-cooperative flying object is selected;

[0220] 5) Execute the selected handler, where the scheduling policy is determined by the scheduling policy configuration RulesSelect (pid, parameters) interface. After the scheduling policy is determined, it is necessary to refer to the selected scheduling policy and perform scheduling operations on the spatiotemporal process according to the specific situation;

[0221] 6) After the event response handler is executed, the system will restore the saved spatiotemporal process context based on the processing results, call resume(pid) to resume the process (there is a calculation process to obtain the process resumption location through the process context and the end result of the event response execution program), and then continue to execute the interrupted process.

[0222] 3. When a conflict occurs with a cooperative aircraft, a cooperative aircraft refers to an aircraft within the system's monitoring and management scope. When a high-priority aircraft enters the normal flight airspace due to an emergency / emergency mission and conflicts with the original normal flight aircraft, coordination and scheduling are required to ensure flight safety and efficiency. The specific process is as follows:

[0223] 1) During normal flight, the spacetime process continuously calls the neighboring process query KNNProcess_list (pid, neighboring_criteria) interface to query the status and distance of other processes around the spacetime process, and uses the spacetime resource proximity query KNNBlockList (block id, neighboring_criteria) interface to query the surrounding spacetime resource occupancy;

[0224] 2) Event trigger condition judgment: Each spacetime process uses the KNNProcess_list (pid, neighboring_criteria) interface and the KNNBlockList (block id, neighboring_criteria) interface to query the surrounding spacetime processes. If the distance of the spacetime resources occupied by the process is less than the judgment threshold, and the spacetime resources occupied by both parties in the future have repeated conflicts, it is considered that there is a conflict between the cooperating aircraft.

[0225] 3) Trigger an interrupt event, call the suspend(pid) interface to suspend the space-time processes of both parties, and select the event response handler for the conflict coordination of the cooperative aircraft based on the type of response event (conflict between cooperative aircraft);

[0226] 4) Execute the interrupt handler. The scheduling policy is determined by the scheduling policy configuration RulesSelect (pid, parameters) interface. After the scheduling policy is determined, it is necessary to refer to the selected scheduling policy and the priority of the spatiotemporal process to perform scheduling operations on the spatiotemporal process according to the specific situation.

[0227] 5) After the interrupt handler is executed, the system will restore the saved time and space process context according to the processing result, call resume(pid) process recovery (there is a calculation process, and the position of process recovery is obtained through process context + interrupt execution program end result), and then continue to execute the interrupted process.

[0228] Another conflict scenario with cooperative aircraft occurs when a cooperative aircraft deviates from its planned route due to weather conditions (strong winds), positioning and flight control errors, sensor failure, and other factors, resulting in unplanned spacetime resources usage. This scenario is similar to the conflict scenario for handling illegal aircraft intrusions.

[0229] For example, a company's manned general aviation helicopter and a company's logistics drone are flying in the same airspace. Because the system cannot directly control the manned general aviation helicopter, it cannot issue and execute dispatch commands to it. However, the logistics drone can receive dispatch commands from the system and be controlled to execute them. Both aircraft are cooperating within the system, uploading their positions and status in real time for real-time monitoring by the system. When flying in the same airspace, manned general aviation aircraft have extremely strict requirements for spatial and temporal resource usage and safe distances, resulting in a spatial and temporal resource conflict between the two aircraft. When the system determines that the spatial and temporal resource conflict event response mechanism has been triggered, it issues an early warning to the helicopter, transmits conflict information to the pilot, and provides alternative contact routes. Simultaneously, it issues dispatch commands to the drone, selects an appropriate dispatch strategy based on its corresponding dispatch capabilities, and issues specific commands for the drone to execute. If the manned general aviation aircraft becomes an EVTOL, dispatch commands can also be issued to the EVTOL, resulting in dispatch commands being issued and executed by the system for both aircraft.

[0230] Based on the above embodiments, the present disclosure further provides a flight scheduling device based on a spatiotemporal resource and spatiotemporal process management system. As shown in Figure 15, the device comprises a state acquisition module 1000, a condition trigger module 2000, a program determination module 3000, a schedule determination module 4000, and a schedule execution module 5000. Specifically, the state acquisition module 1000 is used to obtain the real-time status of the spatiotemporal process, the planned spatiotemporal resource occupation, and the real-time status of the surrounding environment during the execution of the spatiotemporal process. The condition trigger module 2000 is used to obtain a number of preset event trigger conditions and monitor the trigger results of the event trigger conditions. The program determination module 3000 is used to determine the corresponding processing program based on the trigger results. The schedule determination module 4000 is used to obtain the aircraft's own response capability and spatiotemporal resource configuration, and select a scheduling strategy based on the scheduling priority and real-time performance of the spatiotemporal process. The schedule execution module 5000 is used to implement flight scheduling based on the scheduling strategy.

[0231] The working principles of each module in the flight scheduling method device based on spatiotemporal resources and spatiotemporal process management system of this embodiment are the same as the principles of each step in the above method embodiment, and will not be repeated here.

[0232] Based on the above embodiments, the present disclosure further provides a terminal device, the principle block diagram of which can be shown in Figure 16. The terminal device may include one or more processors 100 (only one is shown in Figure 16), a memory 101, and a computer program 102 stored in the memory 101 and executable on the one or more processors 100, for example, a flight scheduling program based on a spatiotemporal resource and spatiotemporal process management system. When the one or more processors 100 execute the computer program 102, the various steps in the embodiment of the flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system can be implemented. Alternatively, when the one or more processors 100 execute the computer program 102, the functions of the various modules / units in the embodiment of the flight scheduling device based on the spatiotemporal resource and spatiotemporal process management system can be implemented, which is not limited here.

[0233] In one embodiment, the processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0234] In one embodiment, memory 101 may be an internal storage unit of an electronic device, such as a hard drive or memory. Memory 101 may also be an external storage device of the electronic device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. Furthermore, memory 101 may include both an internal storage unit of the electronic device and an external storage device. Memory 101 is used to store computer programs and other programs and data required by the terminal device. Memory 101 may also be used to temporarily store data that has been output or is about to be output.

[0235] Those skilled in the art will understand that the principle block diagram shown in Figure 16 is only a block diagram of a partial structure related to the scheme of the present disclosure, and does not constitute a limitation on the terminal device to which the scheme of the present disclosure is applied. The specific terminal device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0236] Those skilled in the art will appreciate that all or part of the processes in the above-described embodiment methods can be implemented by instructing the relevant hardware through a computer program. The computer program (for example, a flight scheduling program based on a spatiotemporal resource and spatiotemporal process management system) can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-described embodiment methods. Among them, any reference to memory, storage, operational database, or other media used in the various embodiments provided in this disclosure may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), Direct Memory Bus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.

[0237] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A spatiotemporal resource and spatiotemporal process management system, characterized in that: The system comprises: The space-time resource management module is used to represent, organize and manage space-time resources. The space-time resources are a set of four-dimensional points, which are used to combine the time dimension with the space dimension to represent the airspace in a dynamically changing manner. The space-time process management module is used to manage the flight process status, space-time resource occupancy, flight procedures and their execution process; A system event response module, used to respond to external events or request events, wherein the external events include: abnormal events of equipment and time-space resource conflict events; A space-time process scheduling and coordination module, wherein the space-time process scheduling and coordination module is respectively connected to the space-time resource management module and the space-time process management module, and is used to select airspace properties and scheduling strategies according to the properties of required space-time resources, the priority and real-time requirements of the space-time process, so as to realize the scheduling and coordination of the space-time process, wherein the space-time process is a basic unit of flight resource allocation and scheduling with an independent execution sequence.

2. The spatiotemporal resource and spatiotemporal process management system according to claim 1, characterized in that: The spatiotemporal resource management module includes: A spatiotemporal resource table, which is used to represent, store and manage spatiotemporal resources in the spatiotemporal OS; The space-time resource calling interface is the management interface of the space-time resource management module for space-time resources, which is used to realize space-time resource allocation, space-time resource release, space-time resource intersection judgment, space-time resource adjacent query and space-time resource update.

3. The spatiotemporal resource and spatiotemporal process management system according to claim 2, characterized in that: The spatiotemporal resource table includes spatiotemporal resource nodes, and the spatiotemporal resource nodes are used to represent occupied spatiotemporal resources. The spatiotemporal resource nodes include: A state recording module, used to reflect various states and attributes of the space-time resources corresponding to the space-time resource node; The 4D geometric expression module is used to reflect the geometric size and characteristics of the real space-time resources corresponding to the space-time resource node.

4. The spatiotemporal resource and spatiotemporal process management system according to claim 1, characterized in that: The spatiotemporal process management module includes: A time-space process table, which is used to represent and manage the time-space process; The space-time process calling interface is used to operate and manage the space-time process to achieve control of functions at the space-time OS kernel level and the space-time process level.

5. The spatiotemporal resource and spatiotemporal process management system according to claim 4, characterized in that: The functions at the spatiotemporal OS kernel level include: process creation, process deletion, process suspension, process resumption, and process exit; the functions at the spatiotemporal process level include: process program call, process resource addition, process resource deletion, process status update, adjacent spatiotemporal process query, process command addition, and process command deletion.

6. The spatiotemporal resource and spatiotemporal process management system according to claim 4, characterized in that: The time-space process table includes: The spatiotemporal process status recording module is used to record the parameters and operation status of the spatiotemporal process for the flight mission represented by the spatiotemporal process; The time and space resource occupancy table is used to indicate the time and space resource usage during the flight; The process task program queue is used to reflect the space-time process execution program generated according to the flight plan content corresponding to the space-time process.

7. The spatiotemporal resource and spatiotemporal process management system according to claim 1, characterized in that: The system also includes: a safety module and a low-altitude federation module. The safety module is used to ensure flight safety, including rules and constraints for various types of space-time resources and space-time processes. The low-altitude federation module is used to provide distributed expansion support for space-time resource and space-time process management systems.

8. A flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system according to any one of claims 1 to 7, characterized in that: The method comprises: During the execution of the spatiotemporal process, obtaining the real-time status of the spatiotemporal process, the spatiotemporal resources planned to be occupied, and the real-time status of the surrounding environment; Acquire a plurality of preset event trigger conditions, and monitor the trigger results of the event trigger conditions; According to the trigger result, determining a processing program corresponding to the trigger result; Obtaining the aircraft's own response capability and spatiotemporal resource configuration, and selecting a scheduling strategy based on the scheduling priority and real-time performance of the spatiotemporal process; Based on the scheduling strategy, flight scheduling is achieved.

9. The flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system according to claim 8, characterized in that: The determining of a processing procedure corresponding to the trigger result includes: Determining a triggered condition according to the trigger result; If the triggered condition is a device failure, determining the processing procedure to be a preset fault emergency scenario processing solution; If the triggered condition is an inter-process conflict warning, the processing procedure is determined to call the corresponding spatiotemporal resource calling interface to interrupt the conflicting spatiotemporal process.

10. The flight scheduling method based on the spatiotemporal resource and spatiotemporal process management system according to claim 9, characterized in that: The flight scheduling is realized based on the scheduling strategy, including: If the scheduling strategy is a dynamic time scheduling of space-time resources, then the usage time of conflicting space-time resources is staggered; If the scheduling strategy is to perform dynamic spatiotemporal resource allocation, the spatiotemporal resources used within a future preset time are reallocated.

11. The flight scheduling method based on the space-time resource and space-time process management system according to claim 9, characterized in that: The method further comprises: Obtaining preset flight plan information, and if the flight plan information is a normal flight, creating a first space-time process and an execution program corresponding to the first space-time process; determining the occupation status of spatiotemporal resource data according to the execution program; If the occupation status is that the spatiotemporal resource data is not occupied, allocating the spatiotemporal resource data to the first spatiotemporal process; Execute the execution program corresponding to the first space-time process.

12. The flight scheduling method based on the space-time resource and space-time process management system according to claim 11, characterized in that: The method further comprises: If the flight plan information is a flight plan modified by the user, an instruction adding operation or an instruction deleting operation is performed on the execution program corresponding to the first spatiotemporal process; If an instruction deletion operation is performed on the execution program corresponding to the first space-time process, the space-time resource data corresponding to the deleted instruction is released.

13. The flight scheduling method based on the space-time resource and space-time process management system according to claim 11, characterized in that: The method further comprises: If the flight plan information is a pre-flight anomaly, a second space-time process is created, and the priority of the second space-time process is higher than that of the first space-time process; Determining whether the second space-time process conflicts with the first space-time process; If a conflict occurs, the spatiotemporal resource data of the first spatiotemporal process will be allocated to the second spatiotemporal process.

14. The flight scheduling method based on the space-time resource and space-time process management system according to claim 11, characterized in that: The method further comprises: If the flight plan information is an in-flight anomaly, determining the anomaly information encountered during the execution of the execution program corresponding to the first spatiotemporal process; According to the exception information, execute the exception handling process corresponding to the exception information.

15. A flight scheduling device based on time-space resources and time-space process management system, characterized in that: The device comprises: A status acquisition module is used to acquire the real-time status of the spatiotemporal process, the planned occupied spatiotemporal resources and the real-time status of the surrounding environment during the execution of the spatiotemporal process; A condition trigger module, used to obtain a plurality of preset event trigger conditions and monitor the trigger results of the event trigger conditions; A program determination module, used to determine a processing program corresponding to the trigger result according to the trigger result; A scheduling determination module is used to obtain the aircraft's own response capability and spatiotemporal resource configuration, and select a scheduling strategy based on the scheduling priority and real-time performance of the spatiotemporal process; The scheduling execution module is used to implement flight scheduling based on the scheduling strategy.

16. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a flight scheduling program based on a space-time resource and space-time process management system stored in the memory and executable on the processor. When the processor executes the flight scheduling program based on a space-time resource and space-time process management system, it implements the steps of a flight scheduling method based on a space-time resource and space-time process management system as described in any one of claims 8 to 14.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a flight scheduling program based on space-time resources and space-time process management system. When the flight scheduling program based on space-time resources and space-time process management system is executed by the processor, the steps of the flight scheduling method based on space-time resources and space-time process management system as described in any one of claims 8-14 are implemented.

18. A spatiotemporal resource management system, characterized in that: The system includes a space-time resource management module for representing, organizing or managing space-time resources. The space-time resources are a set of four-dimensional points, which are used to combine the time dimension with the space dimension to represent the airspace in a dynamically changing manner.

19. The spatiotemporal resource management system according to claim 18, characterized in that: The spatiotemporal resource management module specifically includes: A spatiotemporal resource table, which is used to represent, store or manage spatiotemporal resources in the spatiotemporal OS; The space-time resource calling interface is the management interface of the space-time resource management module for space-time resources, which is used to realize space-time resource allocation, space-time resource release, space-time resource intersection judgment, space-time resource adjacent query and space-time resource update.

20. The spatiotemporal resource management system according to claim 19, characterized in that: The spatiotemporal resource table includes spatiotemporal resource nodes, and the spatiotemporal resource nodes are used to represent occupied spatiotemporal resources. The spatiotemporal resource nodes include: A state recording module, used to reflect various states and attributes of the space-time resources corresponding to the space-time resource node; The 4D geometric expression module is used to reflect the geometric size and characteristics of the real space-time resources corresponding to the space-time resource node.

21. A spatiotemporal process management system, characterized in that: The system comprises a space-time process management module for managing the status of the flight process, the occupancy of space-time resources, the flight program or its execution process.

22. The spatiotemporal process management system according to claim 21, characterized in that: The spatiotemporal process management module specifically includes: A time-space process table, which is used to represent and manage the time-space process; The space-time process calling interface is used to operate and manage the space-time process to achieve control of functions at the space-time OS kernel level and the space-time process level.

23. The spatiotemporal process management system according to claim 22, characterized in that: The functions at the spatiotemporal OS kernel level include: process creation, process deletion, process suspension, process resumption, and process exit; the functions at the spatiotemporal process level include: process program call, process resource addition, process resource deletion, process status update, adjacent spatiotemporal process query, process command addition, and process command deletion.

24. The spatiotemporal process management system according to claim 22, characterized in that: The time-space process table includes: The spatiotemporal process status recording module is used to record the parameters and operation status of the spatiotemporal process for the flight mission represented by the spatiotemporal process; The time and space resource occupancy table is used to indicate the time and space resource usage during the flight; The process task program queue is used to reflect the space-time process execution program generated according to the flight plan content corresponding to the space-time process.

25. A spatiotemporal resource and spatiotemporal process management system, comprising the spatiotemporal resource management system according to any one of claims 18 to 20 and the spatiotemporal process management system according to any one of claims 21 to 24, characterized in that: The system comprises a system event response module, which is used to respond to external events or request events, wherein the external events include: abnormal events of equipment and time-space resource conflict events.

26. A spatiotemporal resource and spatiotemporal process management system, comprising the spatiotemporal resource management system according to any one of claims 18 to 20 and the spatiotemporal process management system according to any one of claims 21 to 24, characterized in that: The system includes a space-time process scheduling and coordination module, which is connected to the space-time resource management module and the space-time process management module respectively, and is used to select airspace properties and scheduling strategies according to the properties of required space-time resources, the priority and real-time requirements of the space-time process, so as to realize the scheduling and coordination of the space-time process, wherein the space-time process is a basic unit of flight resource allocation and scheduling with an independent execution sequence.

27. A spatiotemporal resource and spatiotemporal process management system, comprising the spatiotemporal resource management system according to any one of claims 18 to 20 and the spatiotemporal process management system according to any one of claims 21 to 24, characterized in that: The system includes a safety module and a low-altitude federal module. The safety module is used to ensure flight safety, including rules and constraints for various types of space-time resources and space-time processes. The low-altitude federal module is used to provide distributed expansion support for the space-time resource management system as described in any one of claims 18-20 and for the space-time process management system as described in any one of claims 21-24.

28. A space-time operating system, characterized in that: The system includes a space-time operating system core and an edge cloud computing support system, wherein the space-time operating system core includes: a space-time resource management module, which is used to represent, organize or manage space-time resources. The space-time resources are a set of four-dimensional points, which are used to combine the time dimension with the space dimension to represent the airspace in a dynamically changing manner.

29. The space-time operating system according to claim 28, characterized in that: The spatiotemporal resource management module specifically includes: A spatiotemporal resource table, which is used to represent, store and manage spatiotemporal resources in the spatiotemporal OS; The space-time resource calling interface is the management interface of the space-time resource management module for space-time resources, which is used to realize space-time resource allocation, space-time resource release, space-time resource intersection judgment, space-time resource adjacent query and space-time resource update.

30. The space-time operating system according to claim 29, characterized in that: The spatiotemporal resource table includes a spatiotemporal resource node, and the spatiotemporal resource node is used to represent the occupied spatiotemporal resources, and the spatiotemporal resource node includes: A state recording module, used to reflect various states and attributes of the space-time resources corresponding to the space-time resource node; The 4D geometric expression module is used to reflect the geometric size and characteristics of the real space-time resources corresponding to the space-time resource node.

31. The space-time operating system according to claim 28, characterized in that: The core of the space-time operating system also includes: a space-time process management module, which is used to manage the state of the flight process, the occupancy of space-time resources, the flight program or its execution process.

32. The space-time operating system according to claim 31, characterized in that: The spatiotemporal process management module specifically includes: A time-space process table, which is used to represent and manage the time-space process; The space-time process calling interface is used to operate and manage the space-time process to achieve control of functions at the space-time OS kernel level and the space-time process level.

33. The space-time operating system according to claim 32, characterized in that: The functions at the spatiotemporal OS kernel level include: process creation, process deletion, process suspension, process resumption, and process exit; the functions at the spatiotemporal process level include: process program call, process resource addition, process resource deletion, process status update, adjacent spatiotemporal process query, process command addition, and process command deletion.

34. The space-time operating system according to claim 32, characterized in that: The time-space process table includes: The spatiotemporal process status recording module is used to record the parameters and operation status of the spatiotemporal process for the flight mission represented by the spatiotemporal process; The time and space resource occupancy table is used to indicate the time and space resource usage during the flight; The process task program queue is used to reflect the space-time process execution program generated according to the flight plan content corresponding to the space-time process.

35. The space-time operating system according to claim 31, characterized in that: The spatiotemporal operating system core also includes: a system event response module, which is used to respond to external events or request events, wherein the external events include: abnormal events of equipment and spatiotemporal resource conflict events.

36. The space-time operating system according to claim 35, characterized in that: The core of the space-time operating system also includes: a space-time process scheduling and coordination module, which is connected to the space-time resource management module and the space-time process management module respectively, and is used to select airspace properties and scheduling strategies according to the properties of required space-time resources, the priority and real-time requirements of space-time processes, to realize the scheduling and coordination of space-time processes, wherein the space-time process is a basic unit of flight resource allocation and scheduling with an independent execution sequence.

37. The space-time operating system according to claim 36, characterized in that: The core of the space-time operating system also includes: a safety module and a low-altitude federal module. The safety module is used to ensure flight safety, including rules and constraints for various space-time resources and space-time processes. The low-altitude federal module is used to provide distributed expansion support for the space-time resource and space-time process management system.

38. A space-time operation method, characterized in that: The method comprises the steps of representing, organizing or managing space-time resources, wherein the space-time resources are a set of four-dimensional points, which are used to combine the time dimension with the space dimension to represent the airspace in a dynamically changing manner.

39. The time-space operation method according to claim 38, characterized in that: Steps represent, organize or manage spatiotemporal resources, including: Represent, store or manage spatiotemporal resources in the spatiotemporal OS; Through the management interface of space-time resources, space-time resource allocation, space-time resource release, space-time resource intersection judgment, space-time resource adjacent query and space-time resource update are realized.

40. The time-space operation method according to claim 39, characterized in that: The step of representing, storing or managing the spatiotemporal resources in the spatiotemporal OS includes representing the occupied spatiotemporal resources using spatiotemporal resource nodes, specifically including: Reflecting various states and attributes of the space-time resources corresponding to the space-time resource node; Reflects the geometric size and characteristics of the real space-time resources corresponding to the space-time resource node.

41. The time-space operation method according to claim 38, characterized in that: The space-time operation method also includes the steps of managing the status of the flight process, the occupancy of space-time resources, the flight program or its execution process.

42. The time-space operation method according to claim 41, characterized in that: The steps manage the status of the flight process, the occupancy of space and time resources, the flight procedure or its execution, including: Represent and manage spatiotemporal processes; Operate and manage spacetime processes to control functions at the spacetime OS kernel level and the spacetime process level.

43. The time-space operation method according to claim 42, characterized in that: The functions at the spatiotemporal OS kernel level include: process creation, process deletion, process suspension, process resumption, and process exit; the functions at the spatiotemporal process level include: process program call, process resource addition, process resource deletion, process status update, adjacent spatiotemporal process query, process command addition, and process command deletion.

44. The time-space operation method according to claim 42, characterized in that: The steps are used to represent and manage the spatiotemporal process, including: For the flight mission represented by the space-time process, the parameters and operation status of the space-time process are recorded; Indicates the use of time and space resources during flight; Reflects the space-time process execution program generated according to the flight plan content corresponding to the space-time process.

45. The time-space operation method according to claim 41, characterized in that: The spatiotemporal operation method further comprises the step of responding to external events or request events, wherein the external events include abnormal events of equipment and spatiotemporal resource conflict events.

46. ​​The space-time operation method according to claim 45, characterized in that: The space-time operation method also includes the steps of: selecting airspace properties and scheduling strategies according to the properties of required space-time resources, the priority and real-time requirements of the space-time process, to achieve scheduling and coordination of the space-time process, wherein the space-time process is a basic unit of flight resource allocation and scheduling with an independent execution sequence.

47. The space-time operation method according to claim 46, characterized in that: The spatiotemporal operation method further comprises the steps of: Provide rules and constraints for various space-time resources and space-time processes to ensure flight safety; Provides distributed expansion support.

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