Collision detection method and apparatus, device, medium and program product

Abstract

A collision detection method, executed by a computer device. The method comprises: acquiring trajectory information to be tested of a first movable device, said trajectory information comprising: a plurality of timestamps within a first trajectory time period of the first movable device, position information of the first movable device at each timestamp, and physical size information of the first movable device (S201); for each timestamp, on the basis of the position information of the first movable device at the timestamp and the physical size information of the first movable device, constructing a first three-dimensional space structure corresponding to the timestamp (S202); acquiring existing trajectory information of a second movable device, wherein the second movable device has been subjected to collision detection and an obtained collision detection feedback result indicates that no collision will occur, the existing trajectory information comprising: a plurality of timestamps of the second movable device in a second trajectory time period and a second three-dimensional space structure corresponding to each timestamp, and each second three-dimensional space structure being a three-dimensional space structure constructed on the basis of the physical size information of the second movable device, and an interference distance and operation range of the second movable device at a timestamp corresponding to the second three-dimensional space structure (S203); by means of using a collision detection policy, performing collision detection processing on the first three-dimensional space structure and the second three-dimensional space structure corresponding to the same timestamp to obtain a collision detection result corresponding to the same timestamp (S204); and on the basis of the collision detection results corresponding to the timestamps amongst the plurality of timestamps, generating a collision detection feedback result of the first movable device (S205).

Description

Collision detection method, device, equipment, medium and program product

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 2023116271248, filed on November 29, 2023, entitled “A Collision Detection Method, Device, Equipment, Medium and Program Product,” the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the field of computer technology, and in particular to a collision detection method, a collision detection device, a computer device, a computer-readable storage medium, and a computer program product. Background Art

[0004] With the rapid rise of intelligent transportation, various types of mobile equipment have developed rapidly, and mobile equipment has been used in different application fields due to its advantages such as fearlessness and flexibility.

[0005] In practice, it has been found that mobile equipment is prone to collisions during operation. For example, when two mobile equipment are operating in close proximity, the movement of one can negatively impact the other. Therefore, how to accurately detect collisions during mobile platform operation has become a research hotspot.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a collision detection method, apparatus, device, medium, and program product, which can effectively improve the accuracy of collision detection for movable devices.

[0008] In one aspect, an embodiment of the present application provides a collision detection method, executed by a computer device, comprising:

[0009] Acquire to-be-detected track information of the first movable device, the to-be-detected track information including: multiple timestamps within a first track period of the first movable device, position information of the first movable device at each of the timestamps, and physical size information of the first movable device;

[0010] For each of the timestamps, based on the position information of the first movable device at the timestamp and the physical size information of the first movable device, constructing a first three-dimensional spatial structure corresponding to the timestamp; the first three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the first movable device, the interference distance, and the operating range of the first movable device at the timestamp corresponding to the first three-dimensional spatial structure;

[0011] Obtaining existing track information of a second movable device; the second movable device has undergone collision detection, and the obtained collision detection feedback result indicates that no collision is predicted; the existing track information includes: multiple timestamps within a second track period of the second movable device and a second three-dimensional spatial structure corresponding to each of the timestamps; the second three-dimensional spatial structure is a three-dimensional spatial structure constructed based on physical size information of the second movable device, an interference distance, and an operating range of the second movable device at the timestamp corresponding to the second three-dimensional spatial structure;

[0012] Performing collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp using a collision detection strategy to obtain a collision detection result corresponding to the same timestamp; and

[0013] A collision detection feedback result of the first movable device is generated according to the collision detection result corresponding to each of the multiple timestamps.

[0014] On the other hand, an embodiment of the present application provides a collision detection device, which includes:

[0015] an acquiring unit, configured to acquire track information to be detected of the first movable device, the track information to be detected comprising: a plurality of timestamps within a first track period of the first movable device, position information of the first movable device at each of the timestamps, and physical size information of the first movable device;

[0016] a processing unit configured to construct, for each of the timestamps, a first three-dimensional spatial structure corresponding to the timestamp based on the position information of the first movable device at the timestamp and the physical size information of the first movable device; the first three-dimensional spatial structure being a three-dimensional spatial structure constructed based on the physical size information of the first movable device, the interference distance, and the operating range of the first movable device at the timestamp corresponding to the first three-dimensional spatial structure;

[0017] The processing unit is further configured to obtain existing track information of the second movable device; the second movable device has undergone collision detection and the obtained collision detection feedback result indicates that no collision is predicted; the existing track information includes: a plurality of timestamps within a second track period of the second movable device and a second three-dimensional spatial structure corresponding to each of the timestamps; the second three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the second movable device and the interference distance and operating range of the second movable device at the timestamp corresponding to the second three-dimensional spatial structure;

[0018] The processing unit is further configured to perform collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp using a collision detection strategy to obtain a collision detection result corresponding to the same timestamp; and

[0019] The processing unit is further configured to generate a collision detection feedback result of the first movable device according to a collision detection result corresponding to each of the multiple timestamps.

[0020] In another aspect, an embodiment of the present application provides a computer device, comprising:

[0021] a processor adapted to execute a computer program;

[0022] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the collision detection method described above is implemented.

[0023] On the other hand, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. The computer program is suitable for being loaded by a processor and executing the collision detection method as described above.

[0024] In another aspect, embodiments of the present application provide a computer program product or computer program, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the above-described collision detection method.

[0025] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0027] FIG1 is a schematic diagram of the architecture of a collision detection system provided by an exemplary embodiment of the present application;

[0028] FIG2 is a flow chart of a collision detection method provided by an exemplary embodiment of the present application;

[0029] FIG3 is a schematic diagram of a three-dimensional space structure provided by an exemplary embodiment of the present application;

[0030] FIG4 is a schematic diagram of a core layer provided by an exemplary embodiment of the present application;

[0031] FIG5 is a schematic diagram of a physical layer provided by an exemplary embodiment of the present application;

[0032] FIG6 is a schematic diagram of another physical layer provided by an exemplary embodiment of the present application;

[0033] FIG7 is a schematic diagram of an interference layer provided by an exemplary embodiment of the present application;

[0034] FIG8 is a flow chart of another collision detection method provided by an exemplary embodiment of the present application;

[0035] FIG9 is a schematic diagram of a background process of collision detection provided by an exemplary embodiment of the present application;

[0036] FIG10 is a schematic diagram of a track provided by an exemplary embodiment of the present application;

[0037] FIG11 is a schematic diagram of a particle detection method provided by an exemplary embodiment of the present application;

[0038] FIG12 is a schematic structural diagram of a collision detection device provided by an exemplary embodiment of the present application;

[0039] FIG13 is a schematic structural diagram of a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] In an embodiment of the present application, a collision detection scheme based on a movable device is proposed. Among them, the movable device is also called a movable platform, etc., which is a device with the ability to move or move, specifically a device that can move along a planned path according to a control instruction. The control instruction here can be issued directly or indirectly by the object (i.e., the user holding or controlling the movable device) to the movable device, or it can be a preset program, so that the movable device can move automatically based on the preset program. The movable device may include but is not limited to: aircraft, intelligent robots, vehicles or ships, etc. Among them: aircraft is a device with the ability to operate in the air, common aircraft include drones, airplanes or airships, etc.; intelligent robots can refer to devices with mobile capabilities, such as robots in hotels or shopping malls that can move along a predetermined path to provide services to objects; vehicles can refer to autonomous vehicles (i.e., autonomous driving according to the object's preset program). This type of autonomous vehicle does not require the object to directly control the movement of the vehicle, so it can also be called an unmanned vehicle, etc.; ships can refer to autonomous ships, or unmanned ships, etc.

[0042] Furthermore, collision detection, also known as collision avoidance, refers to a mechanism that detects whether a mobile device collides with an obstacle during its movement. Obstacles in this context can include, but are not limited to, other mobile devices, animals, or static objects. For mobile devices, accurately identifying or detecting various collisions along their path is crucial for ensuring their safe movement. For example, if a drone cannot effectively avoid obstacles in its path during aerial operations, collisions with obstacles could result in the drone crashing.

[0043] It should be noted that, given the widespread application of drones in various fields, they have become a global research hotspot; therefore, the collision detection solution proposed in the embodiments of this application is described using drones as an example of a mobile device. The collision detection solution provided in the embodiments of this application can be extended to collision detection of other mobile devices besides aircraft.

[0044] In order to improve the accuracy of collision detection of movable devices during operation and reduce the computational overhead of collision detection; the collision detection scheme proposed in the embodiment of the present application, on the one hand, proposes the concept of a three-layer space-time capsule, which aims to expand the trajectory planning (or plan) of the movable platform to a three-dimensional space structure that takes into account the physical size of the movable device and the surrounding interference. On the other hand, a collision detection strategy is introduced, which can check whether there is a collision conflict between the track to be detected of the movable device to be detected and the existing track of the movable device to be detected by means of rapid particle inspection and extreme value inspection. It can greatly reduce the number of detections while ensuring that potential trajectory planning conflicts are detected, thereby greatly improving the detection efficiency. Among them, the trajectory planning of the movable device refers to the optimal flight trajectory from the starting point to the target point planned for the movable platform under specific constraints, which meets certain performance indicators. In short, the trajectory planning of the movable device can be the object that controls the movable device and sets the optimal flight path for the movable device under specific constraints. During trajectory planning, the main considerations are the mobile device's heading angle, velocity, and three-dimensional position in the time dimension. The output of trajectory planning is the mobile device's position information for each of the multiple timestamps within the trajectory period. A trajectory period, also known as a takeoff and landing time period, is the flight period between the time the mobile device begins flight at the starting point and ends flight at the destination. A timestamp is also known as a time step (e.g., every second). Position information can be considered a location point.

[0045] In detail, the general process of the collision detection solution provided by the embodiment of the present application may include: assuming that a first mobile device has a need for collision detection, then the track information to be detected of the first mobile device can be obtained, and the track information to be detected includes multiple timestamps within the first track period of the first mobile device, the position information of the first mobile device at each timestamp, and the physical size information of the first mobile device. After obtaining the track information to be detected of the first mobile device, a first three-dimensional spatial structure corresponding to each timestamp (i.e., the three-layer space-time capsule mentioned above) can be constructed for the first mobile device based on the position information and physical size information of each timestamp included in the track information to be detected; the first three-dimensional spatial structure is a three-dimensional spatial structure (such as a cuboid) that covers all spatial positions that the first mobile device can reach at the corresponding timestamp, taking into account the physical size information of the first mobile device and the interference distance of the surrounding environment. Then, the existing track information of the second mobile device that has been detected (i.e., the track planning of the second mobile device during operation has been subjected to collision detection, and the collision detection result is that no collision is predicted) is obtained, and the existing track information at least includes the second three-dimensional spatial structure of the second mobile device corresponding to each timestamp. Finally, the collision detection strategy designed in the embodiment of the present application is adopted to perform collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp, and obtain the collision detection result corresponding to the same timestamp; thereby, a collision detection feedback result is generated for the first movable device based on the collision detection result corresponding to each timestamp in the track period of the first movable device.

[0046] It can be seen that, when planning the trajectory for the first movable device, the embodiment of the present application also introduces the physical size information of the first movable device and the possible interference distance around the first movable device during operation; in this way, the complex factors of the first movable device during operation in the real world are fully considered, and a more realistic first three-dimensional spatial structure can be constructed for the first movable device, completely surrounding the first movable device within the aggregate, thereby improving the accuracy of detection when performing collision detection based on the first three-dimensional spatial structure. In addition, after the first three-dimensional spatial structure is constructed, a relatively simple collision detection strategy (i.e., particle and extreme value detection) can be used based on the characteristics of the three-dimensional spatial structure of the first three-dimensional spatial structure to achieve rapid detection of the first three-dimensional spatial structure of the first movable device and the second three-dimensional spatial structure of the second movable device, thereby improving the detection efficiency of collision detection.

[0047] In actual applications, taking the first movable device as a drone as an example, the operator corresponding to the drone needs to report or apply for the drone's airspace geographic information and flight track information to the relevant air traffic control platform before allowing the drone to officially operate (such as performing a flight mission) (the report content includes but is not limited to information such as the time, altitude, speed and airborne time of the drone occupying the airspace). In this way, the operator submits the track information to be detected obtained from the track planning for the drone to the air traffic control platform within a period of time before the drone takes off (such as a few minutes or even seconds). The air traffic control platform will then quickly analyze the existing track information and the track information to be detected submitted by the same or multiple operators to ensure that the drone is not in the restricted airspace and there is no time and space conflict with other aircraft, so as to ensure that there is no risk of collision between multiple aircraft, thereby ensuring the safety of the flight mission.

[0048] Based on this, it can be seen that the air traffic control platform plays an important role in coordinating multiple drone flight missions during drone operations; therefore, the collision detection solution provided in the embodiment of the present application can be embedded in the air traffic control platform in the form of algorithms, etc. Among them, the air traffic control platform, or air traffic control equipment, refers to the equipment used by the air traffic control department that has management authority over an airspace. Air traffic control software can be deployed in the equipment, and the collision detection solution provided in the embodiment of the present application is embedded in the air traffic control software; in this way, the air traffic control platform can be used to perform collision detection on the track information to be detected submitted by the operator to the air traffic control department. Of course, when the first movable device is a device other than an aircraft, the collision detection solution provided in the embodiment of the present application can be deployed to the corresponding control platform or device; the embodiment of the present application does not limit the specific platform or device for deploying the collision detection solution.

[0049] Figure 1 shows an exemplary collision detection system architecture, using an aircraft as an example. This collision detection system can be understood as an Intelligent Traffic System (ITS), also known as an Intelligent Transportation System. It effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, and artificial intelligence) into transportation, service control, and vehicle manufacturing, strengthening the connection between aircraft, airspace, and users, thereby forming an integrated transportation system that ensures safety, improves efficiency, improves the environment, and conserves energy.

[0050] As shown in Figure 1, the collision detection system includes at least a first movable device 101, an operator device 102 corresponding to the first movable device 101, an air traffic control device 103 corresponding to the air traffic control department, and a second movable device 104 that has been approved by the air traffic control department (i.e., the collision detection has passed, i.e., the collision detection result indicates that no collision is predicted to occur during the operation). Among them: ① The embodiment of the present application does not limit the number of first movable devices that require collision detection and second movable devices that have been detected, nor does it limit the number of air traffic control devices and the number of operator devices. ② The operator device 102 and the air traffic control device 103 can be a server, which can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and basic cloud computing services such as big data and artificial intelligence platforms. It should be noted that the above-mentioned mobile devices (such as the first mobile device 101 and the second mobile device 104) and the server can be directly or indirectly connected via wireless communication, and this application does not impose any limitation thereto.

[0051] In a specific implementation, first, when an object holding a first mobile device 101 has a need to use the first mobile device 101 to operate in an airspace, the object can use the first mobile device 101 (specifically, the remote control device corresponding to the first mobile device 101) to send an operation plan or flight plan to the operator device 102 corresponding to the first mobile device 101. The operator device 102 then plans a trajectory for the first mobile device 101 based on the flight plan and generates track information to be detected for the first mobile device 101. The operator device 102 then sends the track information to be detected for the first mobile device 101 to the air traffic control device 103 corresponding to the airspace where the first mobile device 101 wants to operate. Finally, after receiving the track information to be detected of the first movable device 101, the air traffic control device 103 can construct a first three-dimensional spatial structure corresponding to each of the multiple timestamps in the track period for the first movable device 101 based on the track information to be detected; and the control device 103 also obtains the existing track information of the second movable device 104 in the same airspace as the first movable device 101 that wants to operate from the database, and the second three-dimensional spatial structure corresponding to each timestamp in the track period corresponding to the second movable device itself in the existing track information; in this way, the air traffic control device 103 can adopt the collision detection strategy designed in the embodiment of the present application to perform collision detection on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp, and generate a collision detection feedback result of the first movable device 101 based on the collision detection results corresponding to each timestamp in the entire track period of the first movable device.

[0052] Furthermore, the air traffic control device 103 returns the collision detection feedback result of the first movable device 101 to the operator device 102, so that the operator device 102 can send flight instruction information to the first movable device 101 based on the collision detection feedback result. For example, when the collision detection feedback result indicates that the first movable device 101 is predicted not to collide when operating according to the to-be-detected track information, the flight instruction information returned by the operator device 102 can instruct the first movable device 101 to operate according to the track trajectory; for another example, when the collision detection feedback result indicates that a collision will occur when the first movable device 101 is operating according to the to-be-detected track information, the operator device 102 can generate flight instruction information based on the correction prompt information carried in the collision detection feedback result. In this case, the flight instruction information includes the correction prompt information to instruct the first movable device 101 to adjust the track, otherwise a collision will occur.

[0053] Based on the collision detection solution and system architecture described above, the following two points need to be explained:

[0054] ① The system shown in FIG1 mentioned above in the embodiment of the present application is for more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. A person skilled in the art will appreciate that, with the evolution of system architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is equally applicable to similar technical problems. For example, the above is an introduction to an application scenario of the collision detection solution using a mobile device as an example of a drone; it should be understood that in actual applications, the mobile device can also be other devices, such as the first mobile device being a drone, and the second mobile device being an unmanned vehicle, an unmanned ship or an intelligent robot, etc. In this scenario, the air traffic control equipment corresponding to the first mobile device may need to interact with the control equipment corresponding to the second mobile device (such as a ship control equipment or a vehicle control equipment) to achieve collision detection between the two fields.

[0055] ② The first movable device or the second movable device involved in the embodiment of the present application includes any of the movable devices described above; for example, the first movable device or the second movable device may include any of the following: an aircraft, an intelligent robot, a vehicle, or a ship. Optionally, the first movable device and the second movable device are of the same device type, such as the first movable device and the second movable device are both aircraft; optionally, the first movable device and the second movable device are of different device types, such as the first movable device is an aircraft and the second movable device is a ship (such as a ship with a large flight deck or related equipment that can berth aircraft), etc. The embodiment of the present application does not limit the specific device types of the first movable device and the second movable device, which is specifically explained here.

[0056] ③ The collection and processing of relevant data in the embodiments of this application should be strictly in accordance with the requirements of relevant laws and regulations. The acquisition of personal information requires the knowledge or consent of the individual subject (or the legal basis for obtaining the information), and subsequent data use and processing should be carried out within the scope of authorization of laws and regulations and the subject of personal information. For example, when the embodiments of this application are applied to specific products or technologies, such as obtaining the track information to be detected of the first mobile device, it is necessary to obtain the permission or consent of the object holding the first mobile device, and the collection, use and processing of relevant data (such as the collection and release of the barrage posted by the object, etc.) need to comply with the relevant laws, regulations and standards of the relevant region.

[0057] Based on the collision detection scheme described above, the embodiment of the present application proposes a more detailed collision detection method. The collision detection method proposed in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0058] Please refer to FIG. 2 , which shows a flowchart of a collision detection method provided by an exemplary embodiment of the present application. The collision detection method can be executed by a computer device (such as air traffic control equipment that deploys the collision detection method provided by the present application). The collision detection method includes but is not limited to steps S201-S205:

[0059] S201: Acquire track information to be detected of a first movable device.

[0060] The first movable device is a movable device that requires track detection, such as a drone with a flight plan. Furthermore, the track information to be detected for the first movable device is track information generated based on the track plan of the first movable device and requiring track detection by a control device (such as an air traffic control device). The track information to be detected for the first movable device includes at least: multiple timestamps within a first track period of the first movable device, position information of the first movable device at each timestamp, and physical size information of the first movable device. Among them: ① The flight path period corresponding to the first movable device can be understood as the planned take-off and landing period of the first movable device. For example, if the take-off period starts at 9:00 and lands at 10:00, then the take-off period is the period from 9:00:00 to 9:10:00. The multiple timestamps within the flight path period can be understood as time points with fixed intervals within the flight path period. For example, if the timestamp is 1 second, then the timestamps of the flight path period from 9:00 to 9:10 include at least: 9:00:00, 9:00:01, 9:00:02, ..., 9:10:00, etc. ② The position information of the first movable device at each timestamp can refer to the coordinates of the first movable device in a spatial coordinate system at the corresponding timestamp, that is, the position information can be expressed in the form of the spatial coordinates of the first movable device in the spatial coordinate system. ③ The physical size information of the first movable device can be used to reflect information such as the volume, shape, and size of the first movable device; for example, the physical size information of the first movable device can be expressed as information such as the length, width, and height of the first movable device.

[0061] In a specific implementation, if an object holding a first movable device wants to fly the first movable device within the airspace, the object can configure the track information to be detected of the first movable device in the remote control corresponding to the first movable device, such as setting the track period, selecting the timestamp in the track period, customizing the position information corresponding to each timestamp, correcting the physical size information of the first movable device, etc. Then, after the object configuration is completed, the track information to be detected of the first movable device is sent to the operator device corresponding to the first movable device through the remote control. Then, the operator device can send the track information to be detected of the first movable device to the air traffic control device, at which time the air traffic control device determines that the track information to be detected of the first movable device has been obtained.

[0062] It should be noted that the method for determining the track information to be detected of the first movable device described above is not fixed. For example, the subject can only perform basic configuration operations in the remote control, such as setting the track period without selecting a timestamp, such as setting the flight altitude interval corresponding to the track period without setting the location information corresponding to each timestamp, etc.; after the remote control sends these basic information to the operator device, the operator device automatically generates the track information to be detected of the first movable device based on the basic information combined with some pre-settings and predictions. In this way, for the subject, it does not need to master the cumbersome information configuration rules, but only needs to simply configure the information according to its wishes, which effectively reduces the workload of the subject, and the generation of the track information to be detected by the operator device can ensure the accuracy of the track information to be detected to a certain extent.

[0063] S202: For each timestamp, construct a first three-dimensional space structure corresponding to the timestamp based on the position information of the first movable device at the timestamp and the physical size information of the first movable device.

[0064] The first three-dimensional spatial structure corresponding to any time stamp in the track period of the first mobile device is a three-dimensional spatial structure that includes the operating range indicated by the position information of the first mobile device at any time stamp, taking into account the interference distance of the first mobile device at any time stamp and the physical size information of the first mobile device. That is, the first three-dimensional spatial structure involved in the embodiment of the present application is a three-dimensional spatial structure constructed based on the physical size of the first mobile device, the interference distance of the first mobile device at the time stamp corresponding to the first three-dimensional spatial structure. Among them, the interference distance of the first mobile device at the corresponding time stamp refers to: the distance at which the interference of the surrounding airflow or magnetic field generated by the first mobile device during the movement of the time stamp causes interference and danger to the surrounding adjacent mobile devices. The interference distance can be determined by testing, specifically by controlling two mobile devices to fly at multiple different distances and using sensors to detect whether one of the mobile devices has an impact on the other mobile device. The impact can be, for example, causing the other mobile device to deviate or tilt or generate electromagnetic interference. By introducing an interference distance for each time stamp in the track period of the first mobile device, it is possible to ensure that different mobile devices maintain a certain distance between them (such as flying), thereby ensuring safe movement between different mobile devices. Similarly, the operating range of the first movable device at the corresponding timestamp may refer to a spatial range consisting of one or more spatial positions that the first movable device may be able to reach at the timestamp.

[0065] Furthermore, the first three-dimensional spatial structure corresponding to the timestamp of the first movable device can be seen in Figure 3. The first three-dimensional spatial structure can be divided into three layers, including, from the inside to the outside: a core layer (represented as C1 in Figure 3), a physical layer (represented as C2 in Figure 3), and an interference layer (represented as C3 in Figure 3); that is, the first three-dimensional spatial structure can be considered as the outermost "interference layer", which includes the physical layer, and the physical layer includes the core layer. The following takes any of the multiple timestamps in the first track period as the Tth timestamp as an example, where T is an integer greater than zero, to introduce the specific implementation process of constructing the first three-dimensional spatial structure corresponding to the Tth timestamp; the specific implementation process may include but is not limited to steps s11-s13, wherein:

[0066] S11: Construct the core layer. The core layer is a three-dimensional spatial structure (e.g., a minimum cuboid) consisting of all spatial positions that the first movable device can reach when the trajectory is planned using the first movable device as a particle. This three-dimensional spatial structure includes the set of possible positions that the first movable device can reach at the Tth time stamp.

[0067] In practical applications, it is considered that the actual position information of the first movable device at the timestamp may have a certain degree of uncertainty due to certain reasons (such as weather factors or sudden obstacle avoidance factors, etc.) when the first movable device is in motion; if the first movable device is a drone, its actual position during flight may not coincide with the position at the time of planning. In order to more accurately determine the possible position of the first movable device at the Tth timestamp, the embodiment of the present application supports the use of the concept of the core layer to describe the possible trajectory of the first movable device at the Tth timestamp when performing specific trajectory planning for the first movable device, thereby facilitating the dynamic spatiotemporal management of the airspace, that is, facilitating the grasp of the possible position of the first movable device at the first T timestamp.

[0068] In a specific implementation, the first movable device is supported to be considered as a particle during the trajectory planning, such as selecting the geometric center of the outer envelope of the first movable device or the point where the center of gravity is located as the particle of the first movable device. In this way, the first movable device is regarded as a particle, and based on the position information and speed information of the particle at the Tth timestamp, as well as the first and second time periods adjacent to the particle at the Tth timestamp, the core layer of the first movable device corresponding to the Tth timestamp is constructed; wherein the speed information of the first movable device at the Tth timestamp is carried in the track information to be detected of the first movable device, that is, the track information to be detected of the first movable device also includes the speed information of the first movable device at each timestamp.

[0069] An exemplary schematic diagram of a core layer can be seen in FIG4 . As shown in FIG4 , assuming that the speed of the first movable device at timestamp T is V(T), the first time period adjacent to timestamp T of the first movable device is T1 and the second time period adjacent to timestamp T is T2, and T1 is the T1 period after timestamp T, and T2 is the T2 period before timestamp T. The specific durations of periods T1 and T2 are not limited here, such as 0.5 seconds, which is the error time for the first movable device to reach the location information corresponding to the planned timestamp T. Therefore, the core layer is determined to include both the position of the first movable device at timestamp T and the possible positions of the first movable device in periods T2 before and T1 after timestamp T.

[0070] That is, the core layer contains the set of possible positions of the first movable device within the time interval [T-T2, T+T1]. All spatial positions included in this position set are located within the core layer, and the core layer is a three-dimensional spatial structure as shown in Figure 3 - the minimum cuboid; the length * width * height of the minimum cuboid = L1·W1·H1. Among them: ① The length of the minimum cuboid L1 = L 11 +L 12 Among them, L 1i =T i V(T), i = 1 or 2; when i = 1, L 11 =T1·V(T) represents the movement distance of the first movable device in the T1 period after the Tth time stamp. On the contrary, when i=2, L 12 =T2·V(T) represents the movement distance of the first movable device in the T2 period before the Tth timestamp. ② The width W1 and height H1 of the minimum rectangular parallelepiped can be determined according to preset conditions; wherein the preset conditions may include but are not limited to at least one of the following: the posture information of the first movable device at the Tth timestamp, the approximate environmental factors of the position information corresponding to the first movable device at the Tth timestamp, and fixed values ​​preset according to experience, etc. The embodiment of the present application does not limit the specific calculation method of the width W1 and height H1 of the minimum rectangular parallelepiped, so that the spatial positions that the first movable device may reach as a particle at the Tth timestamp are all included in the core layer composed of the width and height ranges.

[0071] It can be seen that, when constructing the first three-dimensional spatial structure corresponding to the timestamp of the first movable device, the embodiment of the present application fully considers the error between the actual position and the planned position of the first movable device during movement, and constructs a core layer corresponding to the Tth timestamp for the first movable device, so that the core layer can include the set of all spatial positions that may be reached at the Tth timestamp, thereby avoiding the negative impact caused by the position deviation during the movement of the first movable device, such as the position deviation causing a decrease in the accuracy of subsequent collision detection, which in turn leads to a collision crisis for the first movable device.

[0072] s12: Constructing a physical layer surrounding the core layer. The physical layer is a three-dimensional spatial structure (such as a minimum cuboid) that can surround the outer contour of the first movable device when the first movable device moves to the edge of the core layer.

[0073] In practical applications, if only the first movable device is considered as the spatial position that the particle may reach at the T-th timestamp to construct the core layer, then when the particle of the first movable device moves to the edge of the core layer, due to the physical entity size of the first movable device itself, some of its physical components will inevitably be outside the core layer. Therefore, if only based on the core layer corresponding to the T-th timestamp of the first movable device to determine whether a collision or overlap occurs, it is not enough to ensure that all physical entity parts of the first movable device do not collide. To this end, the embodiment of the present application also supports the introduction of physical size information of the first movable device, and introduces a physical layer (i.e., the second layer of the first three-dimensional space structure) outside the core layer, so that the physical layer completely wraps the core layer, so that even if the first movable device is at the edge of the core layer, the physical outer envelope of the first movable device is still surrounded by the physical layer, that is, if there are particles of the first movable device at all positions in the core layer, then the physical layer is a minimum three-dimensional space structure that can enclose the outer contours of all physical components of the first movable device, specifically a minimum cuboid.

[0074] In a specific implementation, the air traffic control equipment supports constructing the physical layer corresponding to the first mobile device at the T timestamp based on the core layer corresponding to the first mobile device at the T timestamp, the posture information of the first mobile device at the T timestamp, and the physical size information of the first mobile device. The posture information of the first mobile device at the T timestamp is carried in the track information to be detected of the first mobile device, that is, the track information to be detected of the first mobile device includes the posture information of each timestamp in the track period of the first mobile device. Furthermore, the posture information of the first mobile device at the T timestamp can be used to characterize the motion posture of the first mobile device at the T timestamp. For example: when the first movable device is a drone, the attitude information of the drone may include but is not limited to: yaw angle (or heading angle), pitch angle and roll angle and other information; wherein, the yaw angle of the drone refers to the angle of rotation of a fixed-wing or rotary-wing aircraft around its own longitudinal axis in vertical flight, or refers to the angle between the actual heading and the planned heading of the drone; the pitch angle of the drone refers to the angle between the body axis of the drone (along the direction of the nose) and the ground plane (horizontal plane) with the horizontal nose of the drone as the reference; the roll angle of the drone refers to the angle of the drone rolling around the front and rear axis.

[0075] An exemplary schematic diagram of a physical layer can be seen in FIG5 . As shown in FIG5 , assuming that the first movable device is a drone, when the drone moves to the edge of the core layer, some physical components of the drone (such as part of the wing) extend beyond the core layer. Therefore, the embodiment of the present application constructs a physical layer outside the core layer corresponding to the Tth timestamp based on the physical size information of the drone. The shape of the physical layer is a rectangular parallelepiped that completely encloses the core layer. Taking the shape of the drone as an example, in this case, the minimum size of the physical layer that encloses the core layer is length * width * height = (L1 + 2ΔL2) · (W1 + 2ΔW2) · (H1 + 2ΔH2); wherein, referring to the top view shown in FIG5 , it can be seen that ΔL2 is the length of the drone's wing that extends beyond the core layer in the length direction when the drone is at the edge of the core layer, and similarly, ΔH2 is the height of the drone's wing that extends beyond the core layer in the height direction when the drone is at the edge of the core layer; referring to the side view shown in FIG4a , it can be seen that ΔW2 is the width of the drone's wing that extends beyond the core layer in the width direction when the drone is at the edge of the core layer.

[0076] It should be noted that Figure 5 illustrates an example in which the drone's shape is centrally symmetrical, and its attitude information indicates that its pitch and roll angles are both zero degrees. However, in actual applications, the drone's shape may not be centrally symmetrical, or its attitude information may indicate that it has a certain pitch angle, roll angle, and / or heading angle. In this implementation, when constructing a physical layer for a drone, the physical layer needs to be constructed based on the drone's specific shape and attitude information. A schematic diagram of constructing a physical layer for a drone with a certain roll angle can be seen in Figure 6. As shown in Figure 6, when the drone has a roll angle, the length of the drone extending beyond the core layer when it is at the edge of the core layer is less than ΔL2, represented by ΔL′2. Similarly, the length of the drone extending beyond the core layer when it is at the edge of the core layer is greater than ΔH2, represented by ΔH′2. In this case, the minimum size of the physical layer enclosing the core layer is length * width * height = (L1 + 2ΔL′2)·(W1 + 2ΔW2)·(H1 + 2ΔH′2).

[0077] It can be seen from this that the embodiments of the present application support constructing a larger physical layer for the first mobile device according to the actual physical size of the first mobile device when the first mobile device is at the edge of the core layer, so that the physical layer can completely enclose the outer contour of the first mobile device when it is at the edge of the core layer, thereby avoiding the outer contour of the first mobile device from colliding with surrounding objects when it is at the edge of the core layer, and significantly improving the anti-collision mechanism of the first mobile device.

[0078] S13: Construct an interference layer surrounding the physical layer, i.e., a first three-dimensional spatial structure of the first mobile device corresponding to timestamp T. The interference layer is a three-dimensional spatial structure that can encompass the interference distance of the first mobile device to the surrounding environment when the first mobile device moves to the edge of the core layer.

[0079] The core layer and physical layer constructed for the first mobile device at the Tth timestamp based on the above steps can include the possible locations of the first mobile device at the Tth timestamp and the corresponding physical entity components. Further, considering that there are interference factors around the first mobile device during flight that can interfere with other surrounding aircraft or objects, this prevents the physical entity components of the first mobile device from colliding or overlapping with surrounding aircraft or objects, but it still cannot guarantee that the trajectory of the first mobile device is safe, because the airflow or magnetic field generated when the first mobile device moves may also have a negative impact on the surroundings. Based on this, the embodiment of the present application considers the introduction of an interference layer (i.e., the third layer of the first three-dimensional space structure) due to the interference caused by the movement of the first mobile device; that is, if the first mobile device exists as a particle at all positions in the core layer, the interference layer is a cuboid (or a minimum cuboid) that can enclose the outer contour of all its interference distances.

[0080] In a specific implementation, after the air traffic control equipment constructs the core layer and physical layer for the first movable device at timestamp T, it can continue to construct the interference layer corresponding to the first movable device at timestamp T based on the physical layer and the interference distance of the first movable device to the surrounding environment. At this time, the interference layer corresponding to timestamp T can be considered to be the first three-dimensional spatial structure corresponding to the first movable device at timestamp T. The specific value of the interference distance of the first movable device to the surrounding environment at timestamp T is determined based on the interference factors of the first movable device at timestamp T, such as airflow, magnetic field, wind force, etc., which are not limited to this.

[0081] An exemplary schematic diagram of an interference layer can be found in FIG7 ; as shown in FIG7 , assuming that the first movable device is a drone, when the drone is at the edge of the core layer, the drone will cause certain interference to the surrounding environment, such as generating airflow (the size of the airflow can be determined based on factors such as the wing rotation rate of the drone). Therefore, the embodiment of the present application constructs an interference layer outside the physical layer based on the interference distance generated when the drone is at the edge of the core layer. The shape of the interference layer is a cuboid (or a minimum cuboid) that completely wraps the physical layer. Taking the example of the drone having a central symmetry in shape and the symmetry in the interference generated by the drone to the surrounding environment, in this case, the minimum size of the interference layer that wraps the physical layer is length * width * height = (L1+2ΔL2+2ΔL3)·(W1+2ΔW2+2ΔW3)·(H1+2ΔH2+2ΔH3). Among them, ΔL3 is the interference distance of the interference signal generated by the drone to the surrounding environment in the length direction when the drone is at the edge of the core layer; ΔW3 is the interference distance of the interference signal generated by the drone to the surrounding environment in the width direction when the drone is at the edge of the core layer; ΔH3 is the interference distance of the interference signal generated by the drone to the surrounding environment in the height direction when the drone is at the edge of the core layer.

[0082] It should be noted that the embodiments of the present application do not limit the specific value of the interference distance of the interference signal generated by the first mobile device to the surrounding environment (such as the length, width, and height directions). For example, it can be determined based on empirical values; or based on the posture information and speed information of the first mobile device corresponding to the Tth time stamp; or using a model to estimate the interference distance of the interference signal generated by the first mobile device to the surrounding environment, etc.

[0083] It can be seen that the embodiment of the present application fully considers the interference caused by the first movable device to the surrounding environment during movement, and constructs an interference layer for the first movable device to completely wrap the physical layer. The interference here may include but is not limited to the interference and danger caused to the surrounding objects by the surrounding airflow or magnetic field when the first movable device moves; thereby ensuring that the first movable device and surrounding objects (such as other movable devices) maintain a safe distance when moving, greatly improving the operation safety of the first movable device.

[0084] In summary, compared with the first three-dimensional space structure constructed for the first movable device based on the above steps s11-s13 in the embodiment of the present application, and the elliptical cylinder constructed in the traditional technology when only considering the first movable device as a particle, the first three-dimensional space structure constructed in the embodiment of the present application can not only completely cover the physical components of the first movable device, but also completely cover the interference distance of the interference signal generated by the first movable device to the surrounding environment, so that the subsequent collision detection based on the first three-dimensional space structure can effectively ensure that the collision detection result is accurate and reliable.

[0085] S203: Obtain the existing track information of the second movable device; the second movable device has undergone collision detection and the obtained collision detection feedback result indicates that no collision is predicted; the existing track information includes: multiple timestamps within the second track period of the second movable device and a second three-dimensional spatial structure corresponding to each timestamp; the second three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the second movable device, the interference distance and operating range of the second movable device at the timestamp corresponding to the second three-dimensional spatial structure.

[0086] The interference distance of the second movable device at the corresponding timestamp refers to the distance at which the airflow or magnetic field generated by the second movable device during its movement at that timestamp interferes with and poses a threat to nearby movable devices. This interference distance can be determined through testing, specifically by controlling the two movable devices to fly at different distances and using sensors to detect whether one of the movable devices affects the other. This impact can, for example, cause the other movable device to deviate or tilt, or generate electromagnetic interference.

[0087] The second movable device refers to a movable device for which the air traffic control device has performed collision detection and the collision detection feedback result indicates that no collision is predicted. It refers to a movable device for which the air traffic control device has performed collision detection on the second movable device and other movable devices, and the collision detection feedback result indicates that no collision is predicted. In order to save the workload of the air traffic control device in collision detection and improve the efficiency of collision detection, the embodiment of the present application also supports setting the acquired second movable device to have the same track airspace as the first movable device to be detected, and the track time period has an overlapping timestamp. For example, it is assumed that the air traffic control device performs collision detection processing on the second movable device 1 and the second movable device 2 before receiving the track information to be detected of the first movable device sent by the operator device, and both the second movable device 1 and the second movable device 2 pass the detection. Then, after the air traffic control device obtains the track information to be detected of the first movable device, it can compare the timestamp and airspace information (such as the mobile airspace indicating the corresponding track of the first movable device) included in the track information to be detected of the first movable device with the second movable device 1 and the second movable device 2 respectively; if the air traffic control device detects that the airspace corresponding to the track of the first movable device is the same as or overlaps with the airspace corresponding to the track of the second movable device, and the airspace corresponding to the track of the first movable device and the airspace corresponding to the track of the second movable device are completely different from or do not overlap, then the air traffic control device determines the second movable device 1 as a movable device that needs to be collided with the first movable device, and the second movable device 2 does not need to be collided with the first movable device. It is not difficult to see that the screening mechanism for the second movable device provided in the embodiment of the present application can avoid the air traffic control device from detecting all the second movable devices that have passed the collision detection with the first movable device, thereby reducing the collision detection workload of the air traffic control device while improving the collision detection efficiency.

[0088] The existing track information of the second mobile device that is screened for collision detection with the first mobile device includes at least: multiple timestamps within the second track period of the second mobile device and the second three-dimensional spatial structure corresponding to each timestamp. It is noteworthy that the second three-dimensional spatial structure corresponding to each timestamp of the second mobile device can be pre-processed by the air traffic control device. That is, the air traffic control device does not need to wait until the air traffic control device receives the track information to be detected from the first mobile device to construct the second three-dimensional spatial structure for each of the second mobile devices at different timestamps to execute the construction process. Instead, the air traffic control device can execute the construction of the second three-dimensional spatial structure corresponding to each of the second mobile devices at different timestamps when the air traffic control device is idle. Of course, the second three-dimensional spatial structure corresponding to each timestamp of the second mobile device can also be constructed and pre-stored by the air traffic control device during the collision detection process for the second mobile device. When performing collision detection on the first mobile device, the air traffic control device can directly obtain the pre-stored second three-dimensional spatial structure of the second mobile device corresponding to each timestamp. This embodiment of the present application does not limit the time at which the second three-dimensional spatial structure of the second mobile device at different timestamps is constructed. The method for constructing the second three-dimensional spatial structure is similar to the method for constructing the first three-dimensional spatial structure corresponding to each timestamp described above for the first mobile device, and will not be further described here.

[0089] It is also worth noting that the number of second mobile devices used for collision detection with the first mobile device can be one or more; when the number of second mobile devices is multiple, the specific implementation process of collision detection between each second mobile device and the first mobile device is the same, and the collision detection process between the second mobile device and the first mobile device will be described in detail later using only a single second mobile device as an example.

[0090] S204: performing collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp using a collision detection strategy to obtain a collision detection result corresponding to the same timestamp.

[0091] Among them, collision detection processing is performed on the first three-dimensional space structure and the second three-dimensional space structure corresponding to the same timestamp, which can be to determine whether the first three-dimensional space structure and the second three-dimensional space structure corresponding to the same timestamp overlap. If they overlap, it means that a collision is predicted to occur at the timestamp; if they do not overlap, it means that no collision is predicted to occur at the timestamp.

[0092] S205: Generate a collision detection feedback result of the first movable device according to the collision detection result corresponding to each of the multiple timestamps.

[0093] In steps S204-S205, it is considered that the condition for the first movable device and the second movable device to collide is that the first movable device and the second movable device are in the same or similar position at the same timestamp; based on this, the air traffic control device constructs a corresponding first three-dimensional spatial structure for each of the multiple timestamps of the first movable device based on the aforementioned steps, and obtains the second three-dimensional spatial structure corresponding to each of the multiple timestamps of the second movable device. After that, the collision detection strategy designed in the embodiment of the present application can be used to perform collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp to obtain the collision detection result corresponding to the same timestamp. Furthermore, the air traffic control device can generate a collision detection feedback result for the first movable device based on the collision detection result corresponding to each of the multiple timestamps included in the corresponding track of the first movable device. Among them: if the collision detection results corresponding to each of the multiple timestamps in the track period of the first movable device indicate that no collision is predicted to occur, then the collision detection feedback result indicates that the first movable device is predicted not to collide when moving according to the track planning; conversely, if the collision detection results corresponding to at least one timestamp in the multiple time axes indicate that a collision is predicted to occur, then the collision detection feedback result indicates that the first movable device will collide.

[0094] In summary, the embodiments of the present application creatively provide a three-layer three-dimensional space structure construction logic based on the physical size of the first movable device and the interference in the surrounding environment; by constructing a corresponding first three-dimensional space structure for the first movable device at each timestamp, it is ensured that the three-dimensional space structure used for subsequent collision detection processing can not only completely cover the entire physical components of the first movable device, but also cover the interference range of the interference signal generated by the first movable device to the surrounding environment during operation, thereby greatly improving the safety of the first movable device during operation.

[0095] Please refer to FIG8 , which shows a flowchart of another collision detection method provided by an exemplary embodiment of the present application. The collision detection method can be executed by a computer device (such as air traffic control equipment that deploys the collision detection method provided by the present application). The collision detection method includes but is not limited to steps S801-S807:

[0096] S801: Acquire the track information to be detected of the first movable device.

[0097] S802: For each timestamp, construct a first three-dimensional space structure corresponding to the timestamp based on the position information of the first movable device at the timestamp and the physical size information of the first movable device.

[0098] S803: Obtain the existing track information of the second movable device; the second movable device has undergone collision detection and the obtained collision detection feedback result indicates that no collision is predicted; the existing track information includes: multiple timestamps within the second track period of the second movable device and a second three-dimensional spatial structure corresponding to each timestamp; the second three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the second movable device, the interference distance and operating range of the second movable device at the timestamp corresponding to the second three-dimensional spatial structure.

[0099] It should be noted that, for the specific implementation process shown in steps S801-S803, reference can be made to the relevant description of the specific implementation process shown in steps S201-S202 in the embodiment shown in FIG2 , and no further details are given here.

[0100] In addition, when there are one or more second movable devices, the specific implementation logic of the collision detection process between the first movable device and the one or more second movable devices can be referred to FIG9 , as shown in FIG9 :

[0101] First, the air traffic control device constructs a second three-dimensional space structure for each second movable device in one or more second movable devices at the corresponding timestamp, and determines the extreme vertex for each second space-time set. Similarly, the air traffic control device also constructs a first three-dimensional space structure corresponding to each timestamp for the first movable device to be inspected, and determines the corresponding extreme vertex for each first three-dimensional space structure. Among them, the extreme vertex can be understood as the largest and smallest vertices among the 8 vertices of the cuboid when the three-dimensional space structure (such as the first three-dimensional space structure or the second three-dimensional space structure) is a cuboid. The extreme vertex will be further explained later.

[0102] Then, according to the order of the timestamps, the first three-dimensional space structure corresponding to the initial timestamp (i.e., the earliest timestamp indicating the time point) is determined from the multiple timestamps corresponding to the first movable device, and the second three-dimensional space structure corresponding to the initial timestamp of each of the one or more second movable devices is detected to see whether it performs collision detection with the first three-dimensional space structure corresponding to the initial timestamp of the first movable device. If the second three-dimensional space structure corresponding to the initial timestamp of each second movable device performs collision detection with the first three-dimensional space structure corresponding to the initial timestamp of the first movable device, indicating that at the initial timestamp, the first movable device will not collide with any second movable device that has applied for flight, then it is detected whether the first movable device still has the first time-space set corresponding to the timestamp to be detected. If so, collision detection is continued on the first three-dimensional space structure corresponding to the timestamp to be detected. On the contrary, if there is at least one second mobile device among one or more second mobile devices, and the second three-dimensional space structure corresponding to the corresponding initial timestamp has not been detected for collision with the first three-dimensional space structure corresponding to the initial timestamp of the first mobile device, then an undetected second mobile device is selected from the at least one second mobile device, and particle detection processing is performed on the second three-dimensional space structure corresponding to the second mobile device at the initial timestamp and the first three-dimensional space structure corresponding to the initial timestamp of the first mobile device.

[0103] Secondly, if the particle detection result obtained by performing particle detection processing on the second three-dimensional spatial structure corresponding to the initial timestamp of the second movable device and the first three-dimensional spatial structure corresponding to the initial timestamp of the first movable device indicates that the particle detection passes, indicating that when the second movable device moves to the second three-dimensional spatial structure corresponding to the initial timestamp and the first movable device moves to the first three-dimensional spatial structure corresponding to the initial timestamp, a collision is predicted not to occur, then the second movable device to be detected is selected from at least one second movable device to perform the above-mentioned particle detection processing. Conversely, if the particle detection result obtained by performing particle detection processing on the second three-dimensional spatial structure corresponding to the initial timestamp of the second movable device and the first three-dimensional spatial structure corresponding to the initial timestamp of the first movable device indicates that the particle detection fails, indicating that when the second movable device moves to the second three-dimensional spatial structure corresponding to the initial timestamp and the first movable device moves to the first three-dimensional spatial structure corresponding to the initial timestamp, a collision may occur, then vertex collision detection (or extremum detection) is continued on the second three-dimensional spatial structure corresponding to the initial timestamp of the second movable device and the first three-dimensional spatial structure corresponding to the initial timestamp of the first movable device to obtain a collision detection result corresponding to the initial timestamp.

[0104] Finally, if the collision detection result corresponding to the initial timestamp indicates that a collision may occur when the second movable device moves to the second three-dimensional spatial structure corresponding to the initial timestamp and the first movable device moves to the first three-dimensional spatial structure corresponding to the initial timestamp, the air traffic control device records the relevant information of the initial timestamp at which the collision will occur and reports it to the object holding the first movable device. The air traffic control device can also continue to detect whether a collision occurs with the first three-dimensional spatial structure corresponding to the next timestamp corresponding to the initial timestamp. Conversely, if the collision detection result corresponding to the initial timestamp indicates that a collision is not predicted when the second movable device moves to the second three-dimensional spatial structure corresponding to the initial timestamp and the first movable device moves to the first three-dimensional spatial structure corresponding to the initial timestamp, the air traffic control device can also continue to detect whether a collision occurs with the first three-dimensional spatial structure corresponding to the next timestamp corresponding to the initial timestamp, until a collision detection is performed between the first three-dimensional spatial structure corresponding to each timestamp in the track period of the first spatiotemporal set and each second movable device in at least one second movable device at the corresponding timestamp.

[0105] It should be noted that: ① Figure 9 above is a rough process for realizing collision detection according to the order of timestamps. In practical applications, it is considered that the first movable device and the second movable device may collide only when they are in the same or similar positions at the same timestamp. Therefore, before using particles and extreme values ​​to realize the collision detection between the first movable device and the second movable device at a certain timestamp, the embodiment of the present application also supports first determining at which timestamps the first movable device and the second movable device need to perform collision detection, that is, which timestamps indicate the same time points; and there is no need to perform collision detection for different timestamps, which can avoid the overhead caused by collision detection for all timestamps to a certain extent, and can improve the efficiency of collision detection.

[0106] For example, as shown in Figure 10, it is assumed that the air traffic control equipment has performed collision detection on the second movable device 1001 and the second movable device 1002, and the detection results indicate that the second movable device 1001 and the second movable device 1002 will not collide with surrounding objects during movement; and the track period of the second movable device 1001 includes timestamp T, timestamp T+1 and timestamp T+2, and the track period of the second movable device 1002 includes timestamp T-1, timestamp T and timestamp T+1; and the air traffic control equipment obtains that the track period of the first movable device 1003 to be inspected includes timestamp T, timestamp T+1 and timestamp T+2. Then, if it is determined that only the second mobile device 1002 has a flight plan at timestamp T-1, there is no need to perform collision detection between the first mobile device 1003 and the second mobile device 1002 at timestamp T-1; similarly, if the second mobile device 1001, the second mobile device 1002 and the first mobile device 1003 all have flight plans at timestamp T, it is necessary to perform collision detection between the first mobile device 1003 and the second mobile device 1001, and between the first mobile device 1003 and the second mobile device 1002 at timestamp T; similarly, at timestamp T +1, if the second mobile device 1001, the second mobile device 1002 and the first mobile device 1003 all have flight plans, it is necessary to perform collision detection between the first mobile device 1003 and the second mobile device 1001 at timestamp T+1, and collision detection between the first mobile device 1003 and the second mobile device 1002; similarly, if only the second mobile device 1001 and the first mobile device 1003 both have flight plans at timestamp T+2, it is necessary to perform collision detection between the first mobile device 1003 and the second mobile device 1001 at timestamp T+2.

[0107] ② Figures 9 and 10 above provide an overview of the collision detection process between a first mobile device and one or more second mobile devices. The specific implementation of the collision detection strategy for the first three-dimensional spatial structure of the first mobile device at any timestamp (e.g., timestamp T) and the second three-dimensional spatial structure of the second mobile device at any timestamp can be seen in steps S804-S806 below.

[0108] S804: Using a collision detection strategy, perform a particle collision detection on the position information of the first movable device at the Tth time stamp and the position information of the second movable device at the Tth time stamp to obtain a particle detection result.

[0109] The position information of the first movable device at the Tth time stamp may be the position of the first movable device at the Tth time stamp when the first movable device is regarded as a point mass; specifically, the center position of the first movable device in the first three-dimensional spatial structure corresponding to the Tth time stamp. The position information is expressed in the form of spatial coordinates, and the spatial position is calculated based on a three-dimensional spatial coordinate system, and the spatial coordinate system includes a first coordinate value X, a second coordinate value Y, and a third coordinate value Z. Then, after obtaining the position information of the first movable device at the Tth timestamp and the position information of the second movable device at the Tth timestamp, the position information of the two can be directly detected; if the distance between the two particle points is far, then it indicates that the two three-dimensional space structures corresponding to the two particle points (i.e., the first three-dimensional space structure and the second three-dimensional space structure) must not have an overlapping area at the Tth timestamp, then it is judged that the first movable device and the second movable device are not predicted to collide at the Tth timestamp; if the distance between the two particle points is close, then it indicates that the two three-dimensional space structures corresponding to the two particle points (i.e., the first three-dimensional space structure and the second three-dimensional space structure) may have an overlapping area at the Tth timestamp, then it is judged that the first movable device and the second movable device may collide at the Tth timestamp, and the next step of extreme value detection is required.

[0110] The specific implementation process of particle collision detection may include: using a collision detection strategy to compare the first coordinate value of the first movable device at time stamp T with the first coordinate value of the second movable device at time stamp T, obtaining a first comparison sub-result corresponding to the first coordinate value; the first comparison sub-result indicates the distance information between the first movable device and the second movable device in the X direction at time stamp T. Similarly, using a collision detection strategy to compare the second coordinate value of the first movable device at time stamp T with the second coordinate value of the second movable device at time stamp T, obtaining a second comparison sub-result corresponding to the second coordinate value; the second comparison sub-result indicates the distance information between the first movable device and the second movable device in the Y direction at time stamp T. Similarly, using a collision detection strategy to compare the third coordinate value of the first movable device at time stamp T with the third coordinate value of the second movable device at time stamp T, obtaining a third comparison sub-result corresponding to the third coordinate value; the third comparison sub-result indicates the distance information between the first movable device and the second movable device in the Z direction at time stamp T. In this way, a particle detection result can be generated based on the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result. Among them, when the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is less than or equal to the preset distance threshold, it indicates that the first movable device and the second movable device may collide at the Tth timestamp, and the following step S805 is triggered to be executed; or, when the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is greater than the preset distance threshold, it indicates that the first movable device and the second movable device may not collide at the Tth timestamp, and the following step S806 is triggered to be executed.

[0111] Furthermore, considering that the first three-dimensional spatial structure corresponding to the first movable device at the Tth time stamp may be a cuboid, the center point of the cuboid (i.e., the position of the first movable device as a particle) and the position of the second movable device at the Tth time stamp may be different in the XYZ directions in accordance with the preset distance threshold for non-collision; that is, each coordinate value in the spatial position corresponds to a preset distance threshold, i.e., each coordinate direction corresponds to a preset distance threshold. Based on this, in the embodiment of the present application, after obtaining the comparison sub-results in the XYZ directions, i.e., the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result based on the aforementioned steps, the logic for the air traffic control device to generate a particle detection result based on the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result may include: if any of the first comparison sub-result is less than the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is less than the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is less than the preset distance threshold corresponding to the third coordinate value, then a particle detection result is generated; at this time, the particle detection result indicates that the first movable device and the second movable device collided at the Tth time stamp. Alternatively, if the first comparison sub-result is greater than or equal to the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is greater than or equal to the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is greater than or equal to the preset distance threshold corresponding to the third coordinate value, then a particle detection result is generated; at this time, the particle detection result indicates that the first movable device and the second movable device are predicted not to collide at the T time stamp.

[0112] The specific values ​​of the preset distance thresholds in the XYZ directions are related to the length, width, and height of the three-dimensional spatial structures corresponding to the Tth time stamp of the first movable device and the second movable device, respectively. For example, the Y direction represents the length of the three-dimensional spatial structure, and the length of the first three-dimensional spatial structure corresponding to the Tth time stamp of the first movable device is 3, and the length of the second three-dimensional spatial structure corresponding to the Tth time stamp of the second movable device is 5. Then, considering that the particle is located at the center point of the three-dimensional spatial structure, the preset distance threshold in the Y direction between the particle in the first three-dimensional spatial structure and the particle in the second three-dimensional spatial structure is determined to be 3 / 2+5 / 2=4. For another example: the Z direction represents the height of the three-dimensional spatial structure, and the height of the first three-dimensional spatial structure corresponding to the Tth time stamp of the first movable device is 8, and the length of the second three-dimensional spatial structure corresponding to the Tth time stamp of the second movable device is 6. Then, considering that the particle is located at the center point of the three-dimensional spatial structure, the preset distance threshold in the Z direction between the particle in the first three-dimensional spatial structure and the particle in the second three-dimensional spatial structure is determined to be 8 / 2+6 / 2=7.

[0113] For example, as shown in FIG11 , assuming that the spatial position of the first movable device when considered as a point mass at time stamp T is (7, 8, 14), and the spatial position of the second movable device when considered as a point mass at time stamp T is (10, 15, 4), and the preset distance thresholds in the X direction, the Y direction, and the Z direction between the first and second movable devices at time stamp T are 2, 8, and 2, respectively. Then, the distance information in the X direction (i.e., the first comparison sub-result, or difference) is determined to be 3, which is greater than the preset distance threshold of 2 in the X direction; similarly, the distance information in the Y direction (i.e., the second comparison sub-result) is determined to be 7, which is less than the preset distance threshold of 8 in the Y direction; similarly, the distance information in the Z direction (i.e., the third comparison sub-result) is determined to be 10, which is greater than the preset distance threshold of 2 in the Z direction. Since the distance information 7 between the first movable device and the second movable device in the Y direction at the Tth timestamp is less than the preset distance threshold 8, it is determined that there is an overlapping area between the first three-dimensional spatial structure of the first movable device corresponding to the Tth timestamp and the second three-dimensional spatial structure of the second movable device corresponding to the Tth timestamp, and it is further determined that the first movable device and the second movable device may collide at the Tth timestamp, then the collision detection result corresponding to the Tth timestamp indicates: the first movable device and the second movable device will collide at the Tth timestamp.

[0114] S805: If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is less than or equal to the preset distance threshold, vertex collision detection is performed on the vertices of the first three-dimensional space structure corresponding to the Tth timestamp and the vertices of the second three-dimensional space structure corresponding to the Tth timestamp to obtain the collision detection result corresponding to the Tth timestamp.

[0115] Based on the particle detection process shown in the aforementioned step S804, if the particle detection result of the particle detection performed on the position of the first movable device at the Tth timestamp and the position of the second movable device at the Tth timestamp indicates: the distance information of the first movable device and the second movable device at the Tth timestamp is less than or equal to the preset distance threshold, such as the distance information in at least one direction of the three directions of XYZ (that is, the aforementioned comparison sub-result) is less than or equal to the corresponding preset distance threshold; it indicates that there may be an overlapping area between the first three-dimensional spatial structure corresponding to the first movable device at the Tth timestamp and the second three-dimensional spatial structure corresponding to the second movable device at the Tth timestamp, that is, the first movable device and the second movable device are likely to collide at the Tth timestamp. For this reason, the embodiment of the present application also designs an extreme value detection strategy (or vertex collision detection strategy) to further detect the collision situation of the first movable device and the second movable device at the Tth timestamp.

[0116] In a specific implementation, when the air traffic control device determines that the particle detection results of the first movable device and the second movable device at the Tth time stamp indicate that the first movable device and the second movable device may collide, the air traffic control device can perform capsule extremum calculation for the first three-dimensional spatial structure corresponding to the Tth time stamp of the first movable device (the capsule here can be the first three-dimensional spatial structure immediately) to obtain the extreme vertex of the first three-dimensional spatial structure and the vertex coordinates of the extreme vertex. In addition, the vertex coordinates of the extreme vertex of the second movable device in the second three-dimensional spatial structure corresponding to the Tth time stamp are obtained.

[0117] Wherein: ① The extreme value vertex of a three-dimensional spatial structure (such as the first three-dimensional spatial structure or the second three-dimensional spatial structure) can refer to a point in the three-dimensional spatial structure where the spatial coordinates take an extreme value (such as a maximum value or a minimum value). Here, the extreme value can refer to the X value, Y value, and Z value of the spatial coordinates being the minimum coordinates in the three-dimensional spatial structure. In the case where the three-dimensional spatial structure is a cuboid, the point taking the extreme value belongs to the 8 vertices of the cuboid. In this case, the extreme value vertex of the three-dimensional spatial structure refers to the vertex with the extreme spatial coordinate among the multiple vertices included in the three-dimensional spatial structure; therefore, in the embodiment of the present application, the point taking the extreme value can be called the extreme value vertex. ② The embodiment of the present application does not limit the specific calculation process for calculating the capsule extreme value for the three-dimensional spatial structure. For example, the process of calculating the capsule extreme value for the first three-dimensional spatial structure may include but is not limited to: according to the position information of the first movable device at the Tth time stamp, the physical size information of the first movable device, and the posture information of the first movable device at the Tth time stamp (the track information to be detected of the first movable device includes the posture information of the first movable device at the Tth time stamp), calculate the vertex coordinates of the extreme value vertex in the first three-dimensional spatial structure corresponding to the Tth time stamp. In more detail, the coordinates of the particles in the first three-dimensional space structure are clearly known based on the position information of the first movable device at the Tth time stamp, and the length, width, height and other information of the first three-dimensional space structure can be known based on the first three-dimensional space structure constructed for the first movable device corresponding to the Tth time stamp. In addition, when the track information to be detected of the first movable device already includes the posture information of the first movable device at the Tth time stamp, it supports putting the X value, Y value and Z value of all points in the first three-dimensional space structure into three sets respectively; in this way, the spatial coordinates composed of the maximum value selected from each set are the vertex coordinates of the extreme vertex with the maximum value in the first three-dimensional space structure. Similarly, the spatial coordinates composed of the minimum value selected from each set are the vertex coordinates of the extreme vertex with the minimum value in the first three-dimensional space structure, thereby obtaining the extreme vertex of the first three-dimensional space structure and the vertex coordinates of the extreme vertex.

[0118] Based on the above description, after the air traffic control equipment obtains the vertex coordinates of the extreme vertex of the first three-dimensional space structure corresponding to the Tth timestamp of the first movable device, and the vertex coordinates of the extreme vertex of the second three-dimensional space structure corresponding to the Tth timestamp of the second movable device, it can use the extreme value check rule to calculate the vertex coordinates of the extreme vertex in the first three-dimensional space structure corresponding to the Tth timestamp of the first movable device, and the vertex coordinates of the extreme vertex in the second three-dimensional space structure corresponding to the Tth timestamp of the second movable device, to obtain the collision detection result corresponding to the Tth timestamp. The collision detection result corresponding to the Tth timestamp is used to indicate: the first movable device and the second movable device collided at the Tth timestamp, or did not collide at the Tth timestamp.

[0119] Among them, the extreme value checking rule can be expressed as the following judgment condition:

[0120] (X 0min <X imax )AND(X imin <X 0max )AND(Y 0min <Y imax )AND(Y imin <Y 0max )AND(Z 0min <Z imax )AND(Z imin <Z 0max )

[0121] Where 0 is the first removable device, i is the i-th second removable device, i is 1, 2, ..., n, and n is a positive integer. 0min 、Y 0min and Z 0min X is the vertex coordinate of the smallest extreme vertex in the first three-dimensional space structure corresponding to the Tth time stamp of the first movable device; 0max 、Y 0max and Z 0max X is the vertex coordinate of the largest extreme vertex in the first three-dimensional space structure corresponding to the Tth time stamp of the first movable device. imin 、Y imin and Z imin X is the vertex coordinate of the smallest extreme vertex in the second three-dimensional space structure corresponding to the Tth time stamp of the i-th second movable device; imax 、Y imax and Z imax are the vertex coordinates of the largest extreme vertex of the i-th second movable device in the second three-dimensional space structure corresponding to the T-th time stamp.

[0122] From the extreme value detection rules given above, it can be seen that the extreme value detection rules include multiple judgment formulas, specifically including 6 judgment formulas, such as the judgment formula (X 0min <X imax ). Then, when each judgment formula among the multiple judgment formulas is true, that is, when the comparison relationship represented by each judgment formula is established, it means that there is an overlapping area (or overlapping phenomenon) between the first three-dimensional spatial structure corresponding to the T-th timestamp of the first movable device and the second three-dimensional spatial structure corresponding to the T-th timestamp of the i-th second movable device, then it is determined that the collision detection result corresponding to the T-th timestamp indicates that the first movable device and the i-th second movable device collide at the T-th timestamp. On the contrary, when there is at least one judgment formula among the multiple judgment formulas is false, it means that there is no overlapping area between the first three-dimensional spatial structure corresponding to the T-th timestamp of the first movable device and the second three-dimensional spatial structure corresponding to the T-th timestamp of the i-th second movable device, then it is determined that the collision detection result corresponding to the T-th timestamp indicates that the first movable device and the i-th second movable device are not predicted to collide at the T-th timestamp.

[0123] It is worth noting that: ① During the process of performing vertex collision detection on the first mobile device and the i-th second mobile device at the Tth time stamp using the above-mentioned extreme value checking rule, if a collision is detected, the collision determination process between the first mobile device and the i-th second mobile device can be exited. In this case, the determination result at the Tth time stamp indicates that the first mobile device and the i-th second mobile device will collide. Alternatively, the determination process can be continued for subsequent time stamps. In this way, all collision points (such as the target time stamp at which a collision will occur) between the first mobile device and the i-th second mobile device can be marked from multiple time stamps, and the results can be returned to the object holding the first mobile device. ② For the first mobile device, only if it is determined that it will not collide with any of the n second mobile devices can it be determined that the first mobile device will not collide according to the planned trajectory prediction. If the first mobile device is expected to collide with any of the n second mobile devices, it is determined that the first mobile device will collide according to the planned trajectory.

[0124] S806: If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is greater than the preset distance threshold, a collision detection result corresponding to the Tth timestamp is obtained; the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

[0125] Based on the particle detection process shown in the aforementioned step S804, if the particle detection result of the particle detection performed on the position of the first movable device at the Tth timestamp and the position of the second movable device at the Tth timestamp indicates: the distance information of the first movable device and the second movable device at the Tth timestamp is greater than the preset distance threshold, such as the distance information in the three directions of XYZ (that is, the aforementioned comparison sub-results) are all greater than the corresponding preset distance threshold; it indicates that there is no overlapping area between the first three-dimensional spatial structure corresponding to the first movable device at the Tth timestamp and the second three-dimensional spatial structure corresponding to the second movable device at the Tth timestamp, that is, the first movable device and the second movable device are predicted not to collide at the Tth timestamp, then there is no need to perform the vertex collision detection shown in step S805, but directly generate the collision detection result corresponding to the first movable device at the Tth timestamp, and at this time the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are predicted not to collide at the Tth timestamp.

[0126] From the collision detection strategy shown in steps S804-S806, it can be seen that, on the one hand, since the particles in the first three-dimensional space structure and the second three-dimensional space structure are easy to obtain, such as the particles in the first three-dimensional space structure are the position information of the first movable device at the corresponding timestamp, and the amount of calculation of the difference between the particles in the XYZ direction is also very small; therefore, the embodiment of the present application sets this particle detection method to realize the collision detection of the first movable device, which can reduce the amount of calculation of the collision detection while ensuring the accuracy of the collision detection. On the other hand, the embodiment of the present application only needs to trigger the execution of subsequent vertex collision detection when the particle detection result indicates that the first movable device and the second movable device may collide, which reduces the computational overhead required for collision detection, and greatly improves the detection efficiency of collision detection by introducing vertex collision detection.

[0127] S807: Generate a collision detection feedback result of the first movable device according to the collision detection result corresponding to each of the multiple timestamps.

[0128] As described above, the track period of the first movable device includes multiple timestamps. Then, only when the collision detection results corresponding to each of the multiple timestamps indicate that the first movable device and the second movable device are predicted not to collide at the corresponding timestamp, the generated collision detection feedback result of the first movable device indicates that the first movable device is predicted not to collide when moving according to the planned track. Conversely, if there is a collision detection result corresponding to a timestamp (one or more) in the multiple timestamps that indicates that the first movable device and the second movable device will collide at the corresponding timestamp, then a collision detection feedback result of the first movable device is generated, and at this time, the collision detection feedback result indicates that the first movable device and the second movable device will collide.

[0129] Furthermore, after the air traffic control device obtains the collision detection feedback result of the first movable device, if the collision detection feedback result indicates that the first movable device may collide, then the embodiment of the present application also supports feedback of the collision situation to the object holding the first movable device, so that the object can correct the track in time and independently decide whether to initiate the track application again. In a specific implementation, after the air traffic control device determines that the collision detection feedback result of the first movable device indicates that the first movable device may collide, it can filter out the target timestamp corresponding to the collision detection result indicating a collision from multiple timestamps within the first track period, and generate correction prompt information based on the target timestamp, and the number of target timestamps is one or more. Then, the air traffic control device outputs the correction prompt information to the first movable device, so that the object holding the first movable device can adjust the track based on the correction prompt information, so that the first movable device after adjusting the track does not collide with other second movable devices that have applied for flight.

[0130] It is worth noting that the embodiments of the present application do not limit the specific content indicated by the correction prompt information generated by the air traffic control equipment. For example, the correction prompt information can be used to indicate but is not limited to one or more of the following: the first movable device will collide at the target timestamp, the collision component of the first movable device when the collision occurs (or the collision direction, collision position, etc., which are used to indicate the collision point), and the adjustment information of the track information of the first movable device at the target timestamp (such as a specific adjustment method, so that after the object adjusts the track of the first movable device according to the adjustment information, the first movable device is predicted not to collide, etc.).

[0131] In summary, on the one hand, the embodiment of the present application creatively provides a three-layer three-dimensional space structure construction logic based on the physical size of the first movable device and the interference in the surrounding environment; by constructing a corresponding first three-dimensional space structure for the first movable device at each timestamp, it is ensured that the three-dimensional space structure used for subsequent collision detection processing can not only completely wrap the entire physical components of the first movable device, but also wrap the interference range of the interference signal generated by the first movable device to the surrounding environment during operation, thereby greatly improving the safety of the first movable device during operation. On the other hand, the traditional use of elliptical cylinders for spatial collisions and overlaps between different capsules has the disadvantages of large computational complexity, cumbersome processes, and long time consumption; however, air traffic control equipment has relatively high requirements for the timeliness of collision detection of multiple track information to be detected submitted by multiple operators, and often hopes to obtain the result of whether there is a collision as soon as possible. In this regard, the embodiment of the present application combines the characteristics of the first three-dimensional spatial structure and creatively provides a new collision detection strategy; this strategy supports the use of computationally simple particle detection to perform collision detection first, and only when the particle detection results indicate that a collision may occur, further introduces vertex collision detection to achieve more accurate collision detection; it can be seen that the double-layer collision detection method of the embodiment of the present application not only ensures the accuracy of collision detection, but also greatly improves the computational efficiency of collision detection compared to traditional hundreds or even thousands of detections, which helps air traffic control equipment to realize collision detection of multiple tracks to be detected.

[0132] The method of the embodiment of the present application is described in detail above. In order to facilitate the above-mentioned scheme of the embodiment of the present application to be better implemented, accordingly, the device of the embodiment of the present application is provided below. In the embodiment of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuit or memory) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of the overall module or unit that includes the module or unit function.

[0133] FIG12 shows a schematic diagram of the structure of a data processing device provided by an exemplary embodiment of the present application; the data processing device can be used to perform some or all of the steps in the method embodiments shown in FIG2 and FIG8. Referring to FIG12, the device includes the following units:

[0134] An acquiring unit 1201 is configured to acquire track information to be detected of a first movable device, the track information to be detected including: multiple timestamps within a first track period, position information of the first movable device at each timestamp, and physical size information of the first movable device;

[0135] Processing unit 1202 is configured to construct, for each timestamp, a first three-dimensional spatial structure corresponding to the timestamp based on position information of the first movable device at the timestamp and physical size information of the first movable device; the first three-dimensional spatial structure being a three-dimensional spatial structure constructed based on the physical size information of the first movable device, an interference distance, and an operating range of the first movable device at the timestamp corresponding to the first three-dimensional spatial structure;

[0136] The processing unit 1202 is further configured to obtain existing track information of the second movable device; the second movable device has undergone collision detection, and the collision detection feedback result obtained indicates that no collision is predicted; the existing track information includes: multiple timestamps within a second track period of the second movable device and a second three-dimensional spatial structure corresponding to each timestamp; the second three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the second movable device, the interference distance, and the operating range of the second movable device at the timestamp corresponding to the second three-dimensional spatial structure;

[0137] The processing unit 1202 is further configured to perform collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp using a collision detection strategy to obtain a collision detection result corresponding to the same timestamp;

[0138] The processing unit 1202 is further configured to generate a collision detection feedback result of the first movable device according to the collision detection result corresponding to each of the multiple timestamps.

[0139] In one implementation, the track information to be detected further includes speed information and attitude information of the first movable device at each timestamp; any timestamp among the multiple timestamps within the first track period is represented as a T-th timestamp; T is an integer greater than zero;

[0140] The processing unit 1202 is configured to construct, for each timestamp, a first three-dimensional spatial structure corresponding to the timestamp based on the position information of the first movable device at the timestamp and the physical size information of the first movable device, specifically to:

[0141] The first movable device is used as a mass point, and according to the position information and velocity information of the mass point at the Tth time stamp, and the first time period and the second time period adjacent to the Tth time stamp, a core layer corresponding to the Tth time stamp is constructed;

[0142] Constructing a physical layer corresponding to the Tth timestamp based on the core layer corresponding to the Tth timestamp, the posture information of the first movable device at the Tth timestamp, and the physical size information of the first movable device;

[0143] Based on the physical layer and the interference distance of the first movable device to the surrounding environment, an interference layer corresponding to the Tth timestamp is constructed; the interference layer corresponding to the Tth timestamp is the first three-dimensional spatial structure of the first movable device corresponding to the Tth timestamp.

[0144] In one implementation, the interference layer includes a physical layer, and the physical layer includes a core layer; wherein:

[0145] The core layer is a three-dimensional spatial structure consisting of all spatial positions that the first movable device can reach at the Tth time stamp when the first movable device is used as a particle for trajectory planning;

[0146] The physical layer is a three-dimensional spatial structure that can enclose the outer contour of the first movable device when the first movable device moves to the edge of the core layer;

[0147] The interference layer is a three-dimensional spatial structure that can enclose an interference distance within which the first movable device interferes with the surrounding environment when the first movable device moves to the edge of the core layer.

[0148] In one implementation, any timestamp among the multiple timestamps within the first track period is represented as a T-th timestamp; the processing unit 1202 is configured to perform collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp using a collision detection strategy, and when a collision detection result corresponding to the same timestamp is obtained, specifically:

[0149] Using a collision detection strategy, performing a particle collision detection on the position information of the first movable device at the Tth time stamp and the position information of the second movable device at the Tth time stamp, and obtaining a particle detection result;

[0150] If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth time stamp is less than or equal to the preset distance threshold, performing vertex collision detection on the vertices of the first three-dimensional space structure corresponding to the Tth time stamp and the vertices of the second three-dimensional space structure corresponding to the Tth time stamp to obtain a collision detection result corresponding to the Tth time stamp;

[0151] The collision detection result corresponding to the Tth timestamp is used to indicate: the first movable device and the second movable device collide at the Tth timestamp, or do not collide at the Tth timestamp.

[0152] In one implementation, the position information is expressed in the form of spatial coordinates, where the spatial coordinates include a first coordinate value, a second coordinate value, and a third coordinate value. The processing unit 1202 is configured to employ a collision detection strategy to perform particle collision detection on the position information of the first movable device at the T time stamp and the position information of the second movable device at the T time stamp. When the particle detection result is obtained, the processing unit 1202 is specifically configured to:

[0153] Using a collision detection strategy, comparing the first coordinate value of the first movable device at the Tth time stamp with the first coordinate value of the second movable device at the Tth time stamp, and obtaining a first comparison sub-result corresponding to the first coordinate value;

[0154] Using a collision detection strategy, comparing the second coordinate value of the first movable device at time stamp T with the second coordinate value of the second movable device at time stamp T, and obtaining a second comparison sub-result corresponding to the second coordinate value;

[0155] Adopting a collision detection strategy, comparing the third coordinate value of the first movable device at the Tth time stamp with the third coordinate value of the second movable device at the Tth time stamp, and obtaining a third comparison sub-result corresponding to the third coordinate value;

[0156] A particle detection result is generated based on the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result.

[0157] In one implementation, each coordinate value in the spatial position corresponds to a preset distance threshold; the processing unit 1202 is configured to generate a particle detection result based on the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result, specifically to:

[0158] If any one of the following conditions holds true: the first comparison sub-result is less than the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is less than the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is less than the preset distance threshold corresponding to the third coordinate value, a particle detection result is generated; the particle detection result indicates that the first movable device and the second movable device collided at the Tth time stamp; or,

[0159] If the first comparison sub-result is greater than or equal to the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is greater than or equal to the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is greater than or equal to the preset distance threshold corresponding to the third coordinate value, a particle detection result is generated; the particle detection result indicates that the first movable device and the second movable device are predicted not to collide at the T time stamp.

[0160] In one implementation, the to-be-detected track information of the first movable device further includes posture information of the first movable device at the Tth timestamp; the processing unit 1202 is configured to perform vertex collision detection on vertices of the first three-dimensional spatial structure corresponding to the Tth timestamp and vertices of the second three-dimensional spatial structure corresponding to the Tth timestamp, and upon obtaining a collision detection result corresponding to the Tth timestamp, specifically to:

[0161] Calculating the vertex coordinates of the extreme vertex in the first three-dimensional space structure corresponding to the Tth time stamp based on the position information of the first movable device at the Tth time stamp, the physical size information of the first movable device, and the posture information of the first movable device at the Tth time stamp;

[0162] Obtaining vertex coordinates of an extreme vertex in the second three-dimensional space structure corresponding to the Tth time stamp of the second movable device;

[0163] The extreme value checking rule is used to calculate the vertex coordinates of the extreme value vertex in the first three-dimensional space structure corresponding to the Tth time stamp of the first movable device, and the vertex coordinates of the extreme value vertex in the second three-dimensional space structure corresponding to the Tth time stamp of the second movable device, to obtain the collision detection result corresponding to the Tth time stamp.

[0164] In one implementation, the extreme vertex of the first three-dimensional space structure refers to a vertex whose spatial coordinates are extreme values ​​among the multiple vertices included in the first three-dimensional space structure; the extreme vertex of the second three-dimensional space structure refers to a vertex whose spatial coordinates are extreme values ​​among the multiple vertices included in the second three-dimensional space structure;

[0165] The extreme value check rule includes multiple judgment formulas; when each of the multiple judgment formulas is true, the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device collided at the Tth timestamp; when at least one of the multiple judgment formulas is false, the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

[0166] In one implementation, the processing unit 1202 is further configured to:

[0167] If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is greater than the preset distance threshold, the collision detection result corresponding to the Tth timestamp is obtained; the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

[0168] In one implementation, the processing unit 1202 is configured to generate a collision detection feedback result of the first movable device according to the collision detection result corresponding to each of the multiple timestamps, specifically to:

[0169] If a collision detection result corresponding to a timestamp in the multiple timestamps indicates that the first movable device and the second movable device will collide at the corresponding timestamp, generating a collision detection feedback result of the first movable device; the collision detection feedback result indicates that the first movable device and the second movable device will collide;

[0170] The processing unit 1202 is further configured to:

[0171] A target timestamp corresponding to a collision detection result indicating a collision is selected from the multiple timestamps, and correction prompt information is generated based on the target timestamp; the correction prompt information is output to the first movable device.

[0172] In one implementation, the first movable device or the second movable device includes any one of the following: an aircraft, an intelligent robot, a vehicle, or a ship.

[0173] According to one embodiment of the present application, the various units in the collision detection device shown in Figure 12 can be separately or completely combined into one or several other units to constitute, or one (some) of the units can be further divided into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In actual applications, the function of one unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, the collision detection device can also include other units. In actual applications, these functions can also be implemented with the assistance of other units and can be implemented by the collaboration of multiple units. According to another embodiment of the present application, a computer program (including program code) capable of executing the steps involved in the corresponding methods shown in Figures 2 and 8 can be run on a general computing device such as a computer including processing elements and storage elements such as a central processing unit (CPU), a random access storage medium (RAM), and a read-only storage medium (ROM). To construct a collision detection device as shown in Figure 12 and to implement the collision detection method of the embodiment of the present application. The computer program can be recorded on, for example, a computer-readable recording medium, loaded into the above-mentioned computing device via the computer-readable recording medium, and executed therein.

[0174] In an embodiment of the present application, a new collision detection solution for mobile devices is provided. On the one hand, the physical size of the mobile device itself and the interference around the mobile device when the mobile device is in motion are fully considered, and a corresponding first three-dimensional spatial structure is constructed for the mobile device at different time stamps. Compared with using the first mobile device as a particle for collision detection, the first three-dimensional spatial structure based on the physical size and interference distance can improve the accuracy of collision detection. On the other hand, a new collision detection strategy is designed to perform collision detection on the first three-dimensional spatial structure corresponding to the first mobile device and the second three-dimensional spatial structure corresponding to the second mobile device. Compared with traditional detection methods, the number of detection times is effectively reduced, thereby improving the efficiency of collision detection.

[0175] Figure 13 shows a schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application. Referring to Figure 13, the computer device includes a processor 1301, a communication interface 1302 and a computer-readable storage medium 1303. The processor 1301, the communication interface 1302 and the computer-readable storage medium 1303 can be connected via a bus or other means. The communication interface 1302 is used to receive and send data. The computer-readable storage medium 1303 can be stored in the memory of the electronic device. The computer-readable storage medium 1303 is used to store a computer program. The computer program includes program instructions, and the processor 1301 is used to execute the program instructions stored in the computer-readable storage medium 1303. The processor 1301 (or CPU (Central Processing Unit)) is the computing core and control core of the computer device, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions to implement the corresponding method flow or corresponding function.

[0176] The embodiment of the present application also provides a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space that stores the processing system of the computer device. In addition, one or more instructions suitable for being loaded and executed by the processor 1301 are also stored in the storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as at least one disk storage; optionally, it can also be at least one computer-readable storage medium located away from the aforementioned processor.

[0177] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor 1301 loads and executes the one or more instructions stored in the computer-readable storage medium to implement the corresponding steps in the above-mentioned collision detection method embodiment; in a specific implementation, the processor 1301 loads the one or more instructions in the computer-readable storage medium and executes the following steps:

[0178] Acquiring to-be-detected track information of the first movable device, the to-be-detected track information including: multiple timestamps within a first track period, position information of the first movable device at each timestamp, and physical size information of the first movable device;

[0179] For each timestamp, based on the position information of the first movable device at the timestamp and the physical size information of the first movable device, a first three-dimensional spatial structure corresponding to the timestamp is constructed; the first three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the first movable device, the interference distance and the operating range of the first movable device at the timestamp corresponding to the first three-dimensional spatial structure;

[0180] Obtain existing track information of the second movable device; the second movable device has undergone collision detection and the obtained collision detection feedback result indicates that no collision is predicted; the existing track information includes: multiple timestamps within the second track period of the second movable device and a second three-dimensional spatial structure corresponding to each timestamp; the second three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the second movable device, the interference distance and the operating range of the second movable device at the timestamp corresponding to the second three-dimensional spatial structure.

[0181] Using a collision detection strategy to perform collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp, to obtain a collision detection result corresponding to the same timestamp;

[0182] A collision detection feedback result of the first movable device is generated according to the collision detection result corresponding to each time stamp in the multiple time stamps.

[0183] In one implementation, the track information to be detected further includes speed information and attitude information of the first movable device at each timestamp; any timestamp among the multiple timestamps within the first track period is represented as a T-th timestamp; T is an integer greater than zero;

[0184] The one or more instructions in the computer-readable storage medium are loaded by the processor 1301 and, when executing the instructions, for each timestamp, construct a first three-dimensional spatial structure corresponding to the timestamp based on the position information of the first movable device at the timestamp and the physical size information of the first movable device, specifically performing the following steps:

[0185] The first movable device is used as a mass point, and according to the position information and velocity information of the mass point at the Tth time stamp, and the first time period and the second time period adjacent to the Tth time stamp, a core layer corresponding to the Tth time stamp is constructed;

[0186] Constructing a physical layer corresponding to the Tth timestamp based on the core layer corresponding to the Tth timestamp, the posture information of the first movable device at the Tth timestamp, and the physical size information of the first movable device;

[0187] Based on the physical layer and the interference distance of the first movable device to the surrounding environment, an interference layer corresponding to the Tth timestamp is constructed; the interference layer corresponding to the Tth timestamp is the first three-dimensional spatial structure of the first movable device corresponding to the Tth timestamp.

[0188] In one implementation, the interference layer includes a physical layer, and the physical layer includes a core layer; wherein:

[0189] The core layer is a three-dimensional spatial structure consisting of all spatial positions that the first movable device can reach at the Tth time stamp when the first movable device is used as a particle for trajectory planning;

[0190] The physical layer is a three-dimensional spatial structure that can enclose the outer contour of the first movable device when the first movable device moves to the edge of the core layer;

[0191] The interference layer is a three-dimensional spatial structure that can enclose an interference distance within which the first movable device interferes with the surrounding environment when the first movable device moves to the edge of the core layer.

[0192] In one implementation, any timestamp among multiple timestamps within the first track period is represented as a T-th timestamp; one or more instructions in the computer-readable storage medium are loaded by the processor 1301 and, when executing the collision detection strategy to perform collision detection processing on the first three-dimensional spatial structure and the second three-dimensional spatial structure corresponding to the same timestamp, to obtain a collision detection result corresponding to the same timestamp, specifically perform the following steps:

[0193] Using a collision detection strategy, performing a particle collision detection on the position information of the first movable device at the Tth time stamp and the position information of the second movable device at the Tth time stamp, and obtaining a particle detection result;

[0194] If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth time stamp is less than or equal to the preset distance threshold, performing vertex collision detection on the vertices of the first three-dimensional space structure corresponding to the Tth time stamp and the vertices of the second three-dimensional space structure corresponding to the Tth time stamp to obtain a collision detection result corresponding to the Tth time stamp;

[0195] The collision detection result corresponding to the Tth timestamp is used to indicate: the first movable device and the second movable device collide at the Tth timestamp, or do not collide at the Tth timestamp.

[0196] In one implementation, the position information is expressed in the form of spatial coordinates, where the spatial coordinates include a first coordinate value, a second coordinate value, and a third coordinate value. One or more instructions in a computer-readable storage medium are loaded by the processor 1301 and executed by the processor 1301. A collision detection strategy is used to perform particle collision detection on the position information of the first movable device at a time stamp T and the position information of the second movable device at a time stamp T. When a particle detection result is obtained, the following steps are specifically performed:

[0197] Using a collision detection strategy, comparing the first coordinate value of the first movable device at the Tth time stamp with the first coordinate value of the second movable device at the Tth time stamp, and obtaining a first comparison sub-result corresponding to the first coordinate value;

[0198] Using a collision detection strategy, comparing the second coordinate value of the first movable device at time stamp T with the second coordinate value of the second movable device at time stamp T, and obtaining a second comparison sub-result corresponding to the second coordinate value;

[0199] Adopting a collision detection strategy, comparing the third coordinate value of the first movable device at the Tth time stamp with the third coordinate value of the second movable device at the Tth time stamp, and obtaining a third comparison sub-result corresponding to the third coordinate value;

[0200] A particle detection result is generated based on the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result.

[0201] In one implementation, each coordinate value in the spatial position corresponds to a preset distance threshold; one or more instructions in the computer-readable storage medium are loaded by the processor 1301 and, when executing the instructions to generate a particle detection result based on the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result, specifically perform the following steps:

[0202] If any one of the following conditions holds true: the first comparison sub-result is less than the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is less than the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is less than the preset distance threshold corresponding to the third coordinate value, a particle detection result is generated; the particle detection result indicates that the first movable device and the second movable device collided at the Tth time stamp; or,

[0203] If the first comparison sub-result is greater than or equal to the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is greater than or equal to the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is greater than or equal to the preset distance threshold corresponding to the third coordinate value, a particle detection result is generated; the particle detection result indicates that the first movable device and the second movable device are predicted not to collide at the T time stamp.

[0204] In one implementation, the to-be-detected track information of the first movable device further includes posture information of the first movable device at a Tth timestamp; one or more instructions in the computer-readable storage medium are loaded by the processor 1301 and, when performing vertex collision detection on vertices of the first three-dimensional spatial structure corresponding to the Tth timestamp and vertices of the second three-dimensional spatial structure corresponding to the Tth timestamp, to obtain a collision detection result corresponding to the Tth timestamp, specifically perform the following steps:

[0205] Calculating the vertex coordinates of the extreme vertex in the first three-dimensional space structure corresponding to the Tth time stamp based on the position information of the first movable device at the Tth time stamp, the physical size information of the first movable device, and the posture information of the first movable device at the Tth time stamp;

[0206] Obtaining vertex coordinates of an extreme vertex in the second three-dimensional space structure corresponding to the Tth time stamp of the second movable device;

[0207] The extreme value checking rule is used to calculate the vertex coordinates of the extreme value vertex in the first three-dimensional space structure corresponding to the Tth time stamp of the first movable device, and the vertex coordinates of the extreme value vertex in the second three-dimensional space structure corresponding to the Tth time stamp of the second movable device, to obtain the collision detection result corresponding to the Tth time stamp.

[0208] In one implementation, the extreme vertex of the first three-dimensional space structure refers to a vertex whose spatial coordinates are extreme values ​​among the multiple vertices included in the first three-dimensional space structure; the extreme vertex of the second three-dimensional space structure refers to a vertex whose spatial coordinates are extreme values ​​among the multiple vertices included in the second three-dimensional space structure;

[0209] The extreme value check rule includes multiple judgment formulas; when each of the multiple judgment formulas is true, the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device collided at the Tth timestamp; when at least one of the multiple judgment formulas is false, the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

[0210] In one implementation, one or more instructions in the computer-readable storage medium are loaded by the processor 1301 and further perform the following steps:

[0211] If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is greater than the preset distance threshold, the collision detection result corresponding to the Tth timestamp is obtained; the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

[0212] In one implementation, one or more instructions in the computer-readable storage medium are loaded by the processor 1301 and, when executing the instructions to generate a collision detection feedback result of the first movable device based on the collision detection result corresponding to each of the multiple timestamps, specifically perform the following steps:

[0213] If a collision detection result corresponding to a timestamp in the multiple timestamps indicates that the first movable device and the second movable device will collide at the corresponding timestamp, generating a collision detection feedback result of the first movable device; the collision detection feedback result indicates that the first movable device and the second movable device will collide;

[0214] The one or more instructions in the computer-readable storage medium are loaded by the processor 1301 and further perform the following steps:

[0215] A target timestamp corresponding to a collision detection result indicating a collision is selected from the multiple timestamps, and correction prompt information is generated based on the target timestamp; the correction prompt information is output to the first movable device.

[0216] In one implementation, the first movable device or the second movable device includes any one of the following: an aircraft, an intelligent robot, a vehicle, or a ship.

[0217] Based on the same inventive concept, the principles and beneficial effects of solving the problem by the computer device provided in the embodiment of the present application are similar to the principles and beneficial effects of solving the problem by the collision detection method in the method embodiment of the present application. Please refer to the principles and beneficial effects of the implementation of the method. For the sake of concise description, they will not be repeated here.

[0218] The present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the above-described collision detection method.

[0219] Those skilled in the art will appreciate that the units and algorithmic steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0220] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data processing device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0221] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0222] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A collision detection method, executed by a computer device, comprising: Acquire the to-be-detected track information of the first movable device, the to-be-detected track information comprising: a plurality of timestamps within a first track period of the first movable device, the position information of the first movable device at each of the timestamps, and the physical size information of the first movable device; For each of the timestamps, based on the position information of the first movable device at the timestamp and the physical size information of the first movable device, construct a first three-dimensional space structure corresponding to the timestamp; Acquire existing track information of a second movable device; the second movable device has been subjected to collision detection and the obtained collision detection feedback result indicates that no collision is predicted; the existing track information includes: a plurality of timestamps within a second track period of the second movable device and a second three-dimensional space structure corresponding to each of the timestamps; the second three-dimensional space structure is a three-dimensional space structure constructed based on the physical size information of the second movable device, the interference distance and the operating range of the second movable device at the timestamp corresponding to the second three-dimensional space structure; Using a collision detection strategy to perform collision detection processing on the first three-dimensional space structure and the second three-dimensional space structure corresponding to the same timestamp, to obtain a collision detection result corresponding to the same timestamp; and A collision detection feedback result of the first movable device is generated according to a collision detection result corresponding to each of the multiple timestamps.

2. The method according to claim 1, wherein the track information to be detected further comprises speed information and attitude information of the first movable device at each of the timestamps; any timestamp among the multiple timestamps within the first track period is represented as the Tth timestamp; T is an integer greater than zero; The step of constructing, for each of the timestamps, a first three-dimensional space structure corresponding to the timestamp based on the position information of the first movable device at the timestamp and the physical size information of the first movable device, includes: Taking the first movable device as a particle, and constructing a core layer corresponding to the Tth timestamp according to the position information and velocity information of the particle at the Tth timestamp, and the first time period and the second time period adjacent to the Tth timestamp; Based on the core layer corresponding to the Tth timestamp, the posture information of the first movable device at the Tth timestamp, and the physical size information of the first movable device, construct the physical layer corresponding to the Tth timestamp; Based on the physical layer and the interference distance of the first movable device to the surrounding environment, an interference layer corresponding to the Tth timestamp is constructed; the interference layer corresponding to the Tth timestamp is a first three-dimensional spatial structure of the first movable device corresponding to the Tth timestamp.

3. The method according to claim 2, wherein the interference layer includes the physical layer, and the physical layer includes the core layer; wherein: The core layer is a three-dimensional space structure composed of all spatial positions that the first movable device can reach at the Tth timestamp when the first movable device is used as a particle for trajectory planning; The physical layer is a three-dimensional space structure that can enclose the outer contour of the first movable device when the first movable device moves to the edge of the core layer; The interference layer is a three-dimensional space structure that can enclose an interference distance of the first movable device that interferes with the surrounding environment when the first movable device moves to the edge of the core layer.

4. The method according to any one of claims 1 to 3, wherein any timestamp among the multiple timestamps within the first track period is represented as the Tth timestamp; and the step of performing collision detection processing on the first three-dimensional space structure and the second three-dimensional space structure corresponding to the same timestamp using a collision detection strategy to obtain a collision detection result corresponding to the same timestamp comprises: Adopting a collision detection strategy, performing a particle collision detection on the position information of the first movable device at the Tth timestamp and the position information of the second movable device at the Tth timestamp, and obtaining a particle detection result; If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is less than or equal to the preset distance threshold, vertex collision detection is performed on the vertices of the first three-dimensional space structure corresponding to the Tth timestamp and the vertices of the second three-dimensional space structure corresponding to the Tth timestamp to obtain the first three-dimensional space structure. The collision detection result corresponding to the T timestamp; The collision detection result corresponding to the Tth timestamp is used to indicate: the first movable device and the second movable device collide at the Tth timestamp, or do not collide at the Tth timestamp.

5. The method according to claim 4, wherein the position information is in the form of spatial coordinates, and the spatial coordinates include a first coordinate value, a second coordinate value, and a third coordinate value; wherein the collision detection strategy is used to perform particle collision detection on the position information of the first movable device at the Tth timestamp and the position information of the second movable device at the Tth timestamp to obtain a particle detection result, including: Adopting a collision detection strategy, comparing the first coordinate value of the first movable device at the Tth timestamp with the first coordinate value of the second movable device at the Tth timestamp, and obtaining a first comparison sub-result corresponding to the first coordinate value; Adopting a collision detection strategy, comparing the second coordinate value of the first movable device at the Tth timestamp with the second coordinate value of the second movable device at the Tth timestamp, and obtaining a second comparison sub-result corresponding to the second coordinate value; Adopting a collision detection strategy, comparing the third coordinate value of the first movable device at the Tth timestamp with the third coordinate value of the second movable device at the Tth timestamp, and obtaining a third comparison sub-result corresponding to the third coordinate value; A particle detection result is generated based on the first comparison sub-result, the second comparison sub-result, and the third comparison sub-result.

6. The method of claim 5, wherein each coordinate value in the spatial position corresponds to a preset distance threshold; and generating a particle detection result based on the first comparison sub-result, the second comparison sub-result and the third comparison sub-result comprises: If any one of the first comparison sub-result is smaller than the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is smaller than the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is smaller than the preset distance threshold corresponding to the third coordinate value, a particle detection result is generated; the particle detection result indicates that the first movable device and the second movable device collided at the Tth timestamp.

7. The method according to claim 5 or 6, wherein generating a particle detection result based on the first comparison sub-result, the second comparison sub-result and the third comparison sub-result comprises: If the first comparison sub-result is greater than or equal to the preset distance threshold corresponding to the first coordinate value, the second comparison sub-result is greater than or equal to the preset distance threshold corresponding to the second coordinate value, or the third comparison sub-result is greater than or equal to the preset distance threshold corresponding to the third coordinate value, a particle detection result is generated; the particle detection result indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

8. The method according to any one of claims 4 to 7, wherein the to-be-detected track information of the first movable device further comprises posture information of the first movable device at the Tth timestamp; the performing vertex collision detection on the vertices of the first three-dimensional space structure corresponding to the Tth timestamp and the vertices of the second three-dimensional space structure corresponding to the Tth timestamp to obtain the collision detection result corresponding to the Tth timestamp comprises: Calculate the vertex coordinates of the extreme vertex in the first three-dimensional space structure corresponding to the Tth timestamp according to the position information of the first movable device at the Tth timestamp, the physical size information of the first movable device, and the posture information of the first movable device at the Tth timestamp; Obtaining vertex coordinates of an extreme vertex of the second movable device in the second three-dimensional space structure corresponding to the Tth timestamp; The extreme value checking rule is used to calculate the vertex coordinates of the extreme value vertices of the first movable device in the first three-dimensional space structure corresponding to the Tth timestamp, and the vertex coordinates of the extreme value vertices of the second movable device in the second three-dimensional space structure corresponding to the Tth timestamp, to obtain the collision detection result corresponding to the Tth timestamp.

9. The method of claim 8, wherein the extreme value vertex of the first three-dimensional space structure refers to a vertex whose spatial coordinates are extreme values ​​among the multiple vertices included in the first three-dimensional space structure; the extreme value vertex of the second three-dimensional space structure refers to a vertex whose spatial coordinates are extreme values ​​among the multiple vertices included in the second three-dimensional space structure; The extreme value check rule includes multiple judgment formulas; when each of the multiple judgment formulas is true, the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device collide at the Tth timestamp; when at least one of the multiple judgment formulas is false, the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

10. The method according to any one of claims 4 to 9, further comprising: If the particle detection result indicates that the distance information between the first movable device and the second movable device at the Tth timestamp is greater than a preset distance threshold, a collision detection result corresponding to the Tth timestamp is obtained; the collision detection result corresponding to the Tth timestamp indicates that the first movable device and the second movable device are not predicted to collide at the Tth timestamp.

11. The method according to any one of claims 1 to 10, wherein generating a collision detection feedback result of the first movable device according to a collision detection result corresponding to each of the multiple timestamps comprises: If there is a collision detection result corresponding to a timestamp among the multiple timestamps indicating that the first movable device and the second movable device will collide at the corresponding timestamp, generating a collision detection feedback result of the first movable device; The collision detection feedback result indicates that the first movable device and the second movable device may collide; The method further comprises: Filtering out a target timestamp corresponding to a collision detection result indicating a collision has occurred from the multiple timestamps, and generating correction prompt information based on the target timestamp; The correction prompt information is output to the first removable device.

12. The method according to any one of claims 1 to 11, wherein the first movable device or the second movable device comprises any one of the following: an aircraft, an intelligent robot, a vehicle or a ship.

13. A collision detection device, comprising: an acquiring unit, configured to acquire the to-be-detected track information of the first movable device, the to-be-detected track information comprising: a plurality of timestamps within a first track period of the first movable device, position information of the first movable device at each of the timestamps, and physical size information of the first movable device; a processing unit, configured to construct, for each of the timestamps, a first three-dimensional spatial structure corresponding to the timestamp based on the position information of the first movable device at the timestamp and the physical size information of the first movable device; the first three-dimensional spatial structure is a three-dimensional spatial structure constructed based on the physical size information of the first movable device, the interference distance and the operating range of the first movable device at the timestamp corresponding to the first three-dimensional spatial structure; The processing unit is further used to obtain existing track information of the second movable device; the second movable device has been subjected to collision detection and the obtained collision detection feedback result indicates that no collision is predicted; the existing track information includes: a plurality of timestamps within a second track period of the second movable device and a second three-dimensional space structure corresponding to each of the timestamps; the second three-dimensional space structure is a three-dimensional space structure constructed based on the physical size information of the second movable device, the interference distance and the operating range of the second movable device at the timestamp corresponding to the second three-dimensional space structure; The processing unit is further used to perform collision detection processing on the first three-dimensional space structure and the second three-dimensional space structure corresponding to the same timestamp using a collision detection strategy to obtain a collision detection result corresponding to the same timestamp; and The processing unit is further configured to generate a collision detection feedback result of the first movable device according to a collision detection result corresponding to each of the multiple timestamps.

14. A computer device comprising: a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the collision detection method according to any one of claims 1 to 12 is implemented.

15. A computer-readable storage medium storing a computer application, wherein when the computer application is executed, the collision detection method according to any one of claims 1 to 12 is implemented.

16. A computer program product, comprising computer instructions, wherein when the computer instructions are executed by a processor, the collision detection method according to any one of claims 1 to 12 is implemented.

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