WO2024082369A1 - Aircraft obstacle avoidance method and system and computer readable storage medium - Google Patents

Aircraft obstacle avoidance method and system and computer readable storage medium Download PDF

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Publication number
WO2024082369A1
WO2024082369A1 PCT/CN2022/133004 CN2022133004W WO2024082369A1 WO 2024082369 A1 WO2024082369 A1 WO 2024082369A1 CN 2022133004 W CN2022133004 W CN 2022133004W WO 2024082369 A1 WO2024082369 A1 WO 2024082369A1
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Prior art keywords
flight
aircraft
obstacle avoidance
parameter
parameters
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PCT/CN2022/133004
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French (fr)
Chinese (zh)
Inventor
胡明寅
谷靖
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广东汇天航空航天科技有限公司
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Publication of WO2024082369A1 publication Critical patent/WO2024082369A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the present application relates to the field of aircraft technology, and in particular to an aircraft obstacle avoidance method, system and computer-readable storage medium.
  • low-altitude aircraft is an emerging flight field. Compared with the traditional civil aviation field, it has the characteristics of low flight altitude, high route flexibility, and short flight distance. Due to these characteristics, low-altitude flight needs to avoid many static obstacles, such as high-rise buildings, tall trees, and telephone poles, which is a major difficulty of low-altitude flight compared to civil aviation. At the same time, low-altitude flight needs to prevent collisions between similar aircraft in the same area, and also needs to avoid dynamic targets such as drones and flying birds.
  • the main purpose of this application is to provide an aircraft obstacle avoidance method, system and computer-readable storage medium, aiming to solve the existing technical problem of being unable to perform accurate low-altitude aviation obstacle avoidance.
  • the present application provides an aircraft obstacle avoidance method, which is applied to a flight management unit and includes the following steps:
  • flight obstacle avoidance parameters corresponding to the target aircraft are obtained based on the first flight parameters and the second flight parameters, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and obstacle information currently obtained by the perception module of the target aircraft.
  • the step of determining whether there is a target aircraft with a collision risk among the aircraft includes:
  • the step of determining whether there is a target aircraft with a collision risk among the various aircraft based on the aircraft operation diagram and the flying object operation diagram includes:
  • the cloud map includes height information and location information of ground obstacles
  • the aircraft operation diagram Based on the cloud map, the aircraft operation diagram, and the flying object operation diagram, it is determined whether there is a target aircraft with a collision risk among the various aircraft.
  • step of updating the aircraft operation diagram based on the first flight parameter includes:
  • the aircraft operations diagram is updated based on the first predicted flight path and the first flight parameters.
  • step of updating the flying object operation diagram based on the second flight parameter includes:
  • the aircraft operation diagram is updated based on the second predicted flight path and the second flight parameters.
  • the step of acquiring the flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter includes:
  • the flight obstacle avoidance parameter is acquired based on the current position information, the first flight parameter, and the second flight parameter.
  • the step of acquiring the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter includes:
  • the first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters.
  • the present application also provides an aircraft obstacle avoidance method, which is applied to a control module of a target aircraft, and comprises the following steps:
  • a flight obstacle avoidance parameter sent by a flight management unit, wherein the flight obstacle avoidance parameter is obtained based on the first flight parameter and the second flight parameter when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameter of each aircraft and the current second flight parameters of multiple flying objects obtained from a ground detection station;
  • Flight control is performed based on the obstacle information and the flight obstacle avoidance parameters.
  • the step of performing flight control based on the obstacle information and the flight obstacle avoidance parameters includes:
  • an obstacle avoidance path is determined and executed.
  • the step of determining whether there is currently an obstacle avoidance risk based on the obstacle information includes:
  • the obstacle information and the flight obstacle avoidance parameters Based on the route information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, it is determined whether there is an obstacle avoidance risk obstacle located on the route corresponding to the route information, wherein if the obstacle avoidance risk obstacle exists, it is determined that there is an obstacle avoidance risk.
  • the step of determining the obstacle avoidance path includes:
  • the obstacle avoidance path is determined based on the obstacle avoidance requirements of flight control planning, the route information, and the target obstacle information.
  • the perception module includes at least one of a camera, a laser radar and a millimeter wave radar.
  • the present application also provides an aircraft obstacle avoidance system, the aircraft obstacle avoidance system comprising a flight management unit and a plurality of aircraft, wherein:
  • the flight management unit is used to obtain the current first flight parameters of each aircraft and obtain the current second flight parameters of multiple flying objects from the ground detection station;
  • the flight management unit is further used to determine whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter;
  • the flight management unit is further configured to, if there is a target aircraft, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
  • the target aircraft is used to perform flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the perception module of the target aircraft.
  • the present application also provides a computer-readable storage medium, on which computer-readable instructions are stored.
  • the steps of the aforementioned aircraft obstacle avoidance method are implemented.
  • the present application obtains the current first flight parameter of each aircraft; then obtains the current second flight parameters of multiple aircraft from a ground detection station; and then determines whether each aircraft has a target aircraft with a collision risk based on the first flight parameter and the second flight parameter; finally, if there is a target aircraft, the flight obstacle avoidance parameters corresponding to the target aircraft are obtained based on the first flight parameter and the second flight parameter, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and the obstacle information currently obtained by the perception module of the target aircraft, and can avoid obstacles for aircraft that need to avoid obstacles through the flight parameters of the aircraft, the flight parameters of the aircraft and the obstacle information corresponding to the aircraft, and the flight control of the aircraft is performed by fusing the aircraft planning results (flight obstacle avoidance parameters) output by the flight management unit (cloud) with the obstacle information perceived by the aircraft, thereby accurately performing low-altitude aviation obstacle avoidance on low-altitude aircraft, thereby improving the accuracy of low-altitude
  • FIG1 is a schematic diagram of the structure of a flight obstacle avoidance device in a hardware operating environment involved in an embodiment of the present application
  • FIG2 is a schematic diagram of a flow chart of a first embodiment of an aircraft obstacle avoidance method of the present application
  • FIG3 is a flow chart of a seventh embodiment of the aircraft obstacle avoidance method of the present application.
  • FIG. 1 is a schematic diagram of the structure of a flight obstacle avoidance device in a hardware operating environment involved in an embodiment of the present application.
  • the terminal in the embodiment of the present application may be an aircraft obstacle avoidance system, or may be a flight management unit or a low-altitude aircraft such as an aircraft.
  • the flight obstacle avoidance device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002.
  • the communication bus 1002 is used to realize the connection and communication between these components.
  • the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
  • the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).
  • the memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory.
  • the memory 1005 may also be a storage device independent of the aforementioned processor 1001.
  • the flight obstacle avoidance device may also include a camera, RF (Radio Frequency) circuit, sensor, audio circuit, WiFi module, etc.
  • sensors include light sensors, motion sensors and other sensors.
  • the light sensor may include a laser radar, a millimeter wave radar, etc.; of course, the flight obstacle avoidance device may also be equipped with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be repeated here.
  • the terminal structure shown in FIG. 1 does not constitute a limitation on the flight obstacle avoidance device, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.
  • the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and computer-readable instructions.
  • the network interface 1004 is mainly used to connect to the background server and communicate data with the background server;
  • the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client;
  • the processor 1001 can be used to call the computer-readable instructions stored in the memory 1005.
  • the flight obstacle avoidance device includes: a memory 1005, a processor 1001, and computer-readable instructions stored on the memory 1005 and executable on the processor 1001, wherein when the processor 1001 calls the computer-readable instructions stored in the memory 1005, the steps of the aircraft obstacle avoidance method in the following embodiments are executed.
  • the present application also provides an aircraft obstacle avoidance method, referring to FIG. 2 , which is a flow chart of a first embodiment of the aircraft obstacle avoidance method of the present application.
  • the aircraft obstacle avoidance method is applied to the flight management unit of the aircraft obstacle avoidance system, wherein the aircraft obstacle avoidance system includes a flight management unit and a plurality of aircrafts. Further, the aircraft obstacle avoidance system may also include a ground detection station, wherein the ground detection station may use ground station radar, spectrum radar, etc. to monitor the flying objects in the region, and obtain the position, speed, and direction information of the flying objects.
  • the flying objects may be low-altitude dynamic obstacles such as birds, kites, and drones.
  • the flight management unit is the scheduling system of the aircraft. The aircraft applies to the flight management unit for a flight route, and the flight management unit approves the flight plan.
  • the flight management unit will continuously monitor and manage the status of all aircrafts, wherein the flight management unit may be set in the cloud, that is, the flight management unit is a cloud flight management unit.
  • the aircraft is an aircraft currently communicating with the cloud flight management unit.
  • the flying object currently has no communication connection with the cloud flight management unit or cannot establish a communication connection with the cloud flight management unit, but the flight parameters of the flying object can be obtained through the ground detection station.
  • the aircraft obstacle avoidance method includes:
  • Step S101 obtaining the current first flight parameter of each aircraft
  • the flight management unit obtains the current first flight parameters of each aircraft, wherein the first flight parameters include the current first position information, first speed, first acceleration (including yaw angular velocity), first orientation (current flight direction) and the first predicted flight path corresponding to the aircraft within a first preset time period.
  • Each aircraft reports its corresponding first flight parameters to the flight management unit in real time.
  • the first preset time period can be reasonably set. For example, the first preset time period is 10 seconds, 30 seconds, 1 minute, 5 minutes, etc.
  • the flight management unit can obtain the first flight parameters in real time or periodically.
  • Step S102 obtaining current second flight parameters of multiple flying objects from a ground detection station
  • the flight management unit obtains the current second flight parameters of multiple flying objects from the ground detection station.
  • the flying objects include one or more low-altitude dynamic obstacles such as kites, drones, helicopters, and may also include dynamically flying animals such as birds.
  • the ground detection stations detect the second flight parameters of the flying objects in their corresponding areas in real time and report the second flight parameters to the flight management unit.
  • the second flight parameters include at least the current second position information, second speed, second acceleration (including yaw angular velocity) and second orientation of each flying object.
  • Step S103 determining whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter;
  • the flight management unit determines whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter, that is, determines whether there is a collision risk between the aircraft, and whether there is a collision risk between each aircraft and each flying object.
  • the flight management unit can determine the first predicted flight path corresponding to each aircraft through each first flight parameter, and determine the second predicted flight path corresponding to each aircraft through the second flight parameter.
  • the flight management unit determines whether there is an intersection area between each first predicted flight path at each time, and whether there is an intersection area between each first predicted flight path and each second predicted flight path at each time. If there is an intersection area, the flight management unit determines that there is a target aircraft.
  • the flight management unit updates the aircraft operation diagram through the first flight parameter, and updates the flying object operation diagram based on the second flight parameter. Through the aircraft operation diagram and the flying object operation diagram, the flight management unit determines whether there is a target aircraft with a collision risk among each aircraft.
  • Step S104 If there is a target aircraft, based on the first flight parameter and the second flight parameter, obtain the flight obstacle avoidance parameters corresponding to the target aircraft, and send the flight obstacle avoidance parameters to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and the obstacle information currently obtained by the perception module of the target aircraft.
  • the flight management unit obtains the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameter and the second flight parameter. Specifically, the flight management unit obtains the current position information of the target aircraft in the first flight parameter, and obtains the flight obstacle avoidance parameters in the first flight parameter and the second flight parameter based on the current position information, and then sends the flight obstacle avoidance parameters to the target aircraft.
  • the target aircraft When receiving the flight obstacle avoidance parameters, the target aircraft obtains obstacle information of the surrounding environment through its perception module, and performs flight control according to the flight obstacle avoidance parameters and the obstacle information. Specifically, the control module of the target aircraft determines whether there is a target obstacle located on the route corresponding to the route information based on the route information, obstacle information and flight obstacle avoidance parameters of the target aircraft. If the target obstacle exists, the control module obtains the target obstacle information corresponding to the target obstacle based on the obstacle information and the flight obstacle avoidance parameters, and determines an obstacle avoidance path based on the obstacle avoidance requirements of the flight control planning, the route information and the target obstacle information, and then executes the obstacle avoidance path to control the flight of the target aircraft, so that the target aircraft flies according to the obstacle avoidance path.
  • the flight obstacle avoidance parameters corresponding to the target aircraft are acquired based on the first flight parameter and the second flight parameter, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the perception module of the target aircraft, and can avoid obstacles for aircraft that need to avoid obstacles through the flight parameters of the aircraft, the flight parameters of the aircraft and the obstacle information corresponding to the aircraft, and the flight control of the aircraft is performed by fusing the aircraft planning results (flight obstacle avoidance parameters) output by the flight management unit (cloud) with the obstacle information perceived by the aircraft, thereby accurately performing low-altitude aviation obstacle avoidance on low-altitude aircraft, thereby improving the accuracy of low-altitude obstacle avoid
  • step S103 includes:
  • Step S201 updating an aircraft operation diagram based on the first flight parameters, and updating an aircraft operation diagram based on the second flight parameters;
  • Step S202 Determine whether there is a target aircraft with a collision risk among the aircraft based on the aircraft operation diagram and the flying object operation diagram.
  • the flight management unit After obtaining the first flight parameter and the second flight parameter, the flight management unit updates the aircraft operation diagram based on the first flight parameter, and updates the flying object operation diagram based on the second flight parameter. Specifically, the flight management unit determines a first predicted flight path corresponding to each aircraft within a first preset time period based on the first flight parameter, and updates the aircraft operation diagram based on the first predicted flight path and the first flight parameter, that is, updates the first position information, first speed, first acceleration, first direction and first predicted flight path of each aircraft in the aircraft operation diagram; at the same time, the flight management unit determines a second predicted flight path corresponding to each flying object within the first preset time period based on the second flight parameter, and updates the flying object operation diagram based on the second predicted flight path and the second flight parameter, that is, updates the second position information, second speed, second acceleration, second direction and second predicted flight path of each flying object in the flying object operation diagram.
  • the flight management unit determines whether there is a target aircraft with a collision risk among the aircraft based on the aircraft operation diagram and the flying object operation diagram. Specifically, the flight management unit determines whether there is an intersection area between each first predicted flight path at each moment, and whether there is an intersection area between each first predicted flight path and each second predicted flight path at each moment based on the updated aircraft operation diagram and the updated flying object operation diagram. If any intersection area exists, the flight management unit determines that there is a target aircraft.
  • the target aircraft can be accurately determined according to the updated aircraft operation diagram and the updated flying object operation diagram, thereby accurately achieving low-altitude aviation obstacle avoidance for low-flying aircraft, and further improving the accuracy of low-altitude obstacle avoidance.
  • step S202 includes:
  • Step S301 obtaining a cloud map, wherein the cloud map includes height information and location information of ground obstacles;
  • Step S302 Determine whether each aircraft has a target aircraft with which there is a risk of collision based on the cloud map, the aircraft operation diagram, and the flying object operation diagram.
  • the flight management unit When obtaining the aircraft operation diagram and the flying object operation diagram, the flight management unit also obtains a cloud map, wherein the cloud map includes height information and position information of ground obstacles.
  • the flight management unit determines whether there is a target aircraft with a collision risk among the aircraft based on the cloud map, the aircraft operation diagram and the aircraft operation diagram. Specifically, the flight management unit determines whether there is an intersection area between each first predicted flight path at each moment, and whether there is an intersection area between each first predicted flight path and each second predicted flight path at each moment based on the updated aircraft operation diagram and the updated flying object operation diagram. The flight management unit also determines whether there is a collision risk between each aircraft and a ground obstacle, that is, whether there is an intersection area between the first predicted flight path of each aircraft and the ground obstacle, based on the updated aircraft operation diagram, the flying object operation diagram and the cloud map. If any intersection area exists, the flight management unit determines that there is a target aircraft.
  • the target aircraft can be accurately determined according to the cloud map, the updated aircraft operation diagram and the updated flying object operation diagram, thereby accurately achieving low-altitude aviation obstacle avoidance for low-flying aircraft, and further improving the accuracy of low-altitude obstacle avoidance.
  • step S201 includes:
  • Step S401 obtaining an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule includes route information and flight time information of each aircraft;
  • Step S402 determining a first predicted flight path corresponding to each aircraft within a first preset duration based on the first flight parameter and the aircraft plan table;
  • Step S403 updating the aircraft operation diagram based on the first predicted flight path and the first flight parameters.
  • the flight management unit obtains the aircraft schedule corresponding to each aircraft, wherein the aircraft schedule includes the route information and flight time information of each aircraft.
  • the flight management unit determines the first predicted flight path corresponding to each aircraft within the first preset time period based on the first flight parameter and the aircraft schedule; that is, the first predicted flight path corresponding to each aircraft is predicted based on the first position information, the first speed, the first acceleration, the first orientation in the first flight parameter and the aircraft schedule.
  • the flight management unit updates the aircraft operation diagram based on the first predicted flight path and the first flight parameter. Specifically, the flight management unit can update the first position information, first speed, first acceleration, first direction and first predicted flight path of each aircraft in the aircraft operation diagram.
  • the aircraft operation diagram can be accurately updated in real time according to the first flight parameters, so as to accurately determine the target aircraft according to the updated aircraft operation diagram, thereby accurately achieving low-altitude aviation obstacle avoidance for low-altitude flying aircraft, and further improving the accuracy of low-altitude obstacle avoidance.
  • step S201 includes:
  • Step S501 determining a second predicted flight path corresponding to each flying object within a first preset time period based on the second flight parameter
  • Step S502 Update the flying object operation diagram based on the second predicted flight path and the second flight parameters.
  • the flight management unit determines the second predicted flight path corresponding to each flying object within the first preset time period based on the second flight parameter, and predicts the second predicted flight path corresponding to each flying object according to the second position information, second speed, second acceleration and second direction in the second flight parameter.
  • the flight management unit updates the flying object operation diagram based on the second predicted flight path and the second flight parameters, that is, updates the second position information, second speed, second acceleration, second direction and second predicted flight path of each aircraft in the flying object operation diagram.
  • the flying object operation diagram can be accurately updated in real time according to the second flight parameter, so as to accurately determine the target aircraft according to the updated flying object operation diagram, and then accurately achieve low-altitude aviation obstacle avoidance of low-altitude flying aircraft, thereby further improving the accuracy of low-altitude obstacle avoidance.
  • step S104 includes:
  • Step S601 determining the current position information of the target aircraft based on the first flight parameter
  • Step S602 Acquire the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter.
  • the flight management unit determines the current position information of the target aircraft based on the first flight parameter, that is, obtains the current position information of the target aircraft from the first flight parameter.
  • step S602 includes:
  • Step S6021 acquiring a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
  • Step S6022 Use the first target flight parameter and the second target flight parameter as the flight obstacle avoidance parameter.
  • the flight management unit determines that the current position information corresponds to a preset area, and the preset area can be determined according to the current first speed, first orientation and current position information of the target aircraft. For example, the radius of the preset area is determined according to the current first speed of the target aircraft, and the center of the preset area is determined based on the first orientation and the current position information, wherein the center of the preset area can be a certain position before the current orientation, so as to further determine the preset area.
  • the first target flight parameters in the first flight parameters that are located in the preset area are obtained, and the first target flight parameters do not include the flight parameters of the target aircraft, that is, the first target flight parameters in the preset area are obtained from the other flight parameters in the first flight parameters except the flight parameters of the target aircraft, and the second target flight parameters in the second flight parameters that are located in the preset area, and then the first target flight parameters and the second target flight parameters are used as the flight obstacle avoidance parameters, so as to accurately obtain the flight obstacle avoidance parameters of the target aircraft, and further improve the accuracy of low-altitude obstacle avoidance.
  • the flight obstacle avoidance parameter of the target aircraft can be accurately obtained, further improving the accuracy of low-altitude obstacle avoidance.
  • the present application also provides an aircraft obstacle avoidance method, referring to FIG. 3 , which is a flow chart of a seventh embodiment of the aircraft obstacle avoidance method of the present application.
  • the aircraft obstacle avoidance method is applied to a control module of a target aircraft in an aircraft obstacle avoidance system, wherein the aircraft obstacle avoidance system includes a flight management unit and multiple aircraft. Further, the aircraft obstacle avoidance system may also include a ground detection station, wherein the ground detection station may use ground station radar, spectrum radar, etc. to monitor flying objects in flight in an area to obtain the position, speed, and direction information of the flying objects.
  • the flying objects may be low-altitude dynamic obstacles such as birds, kites, and drones.
  • the flight management unit is a scheduling system for the aircraft.
  • the aircraft applies to the flight management unit for a flight route, and the flight management unit approves the flight plan. During operation, the flight management unit will continuously monitor and manage the status of all aircraft, wherein the flight management unit may be set in the cloud, that is, the flight management unit is a cloud-based flight management unit.
  • the aircraft obstacle avoidance method includes:
  • Step S701 receiving a flight obstacle avoidance parameter sent by a flight management unit, wherein the flight obstacle avoidance parameter is obtained based on the first flight parameter and the second flight parameter when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameter of each aircraft and the current second flight parameters of multiple flying objects obtained from a ground detection station;
  • Step S702 obtaining obstacle information of the surrounding environment through the perception module of the target aircraft;
  • Step S703 performing flight control based on the obstacle information and the flight obstacle avoidance parameters.
  • each aircraft When each aircraft is in flight, it requests the route it needs to fly, that is, it sends a flight request including route information to the flight management unit.
  • the flight management unit records the route information and returns confirmation information to the aircraft.
  • the aircraft then flies based on the route information.
  • the flight management unit can also determine whether the route information is safe, for example, based on the stored route information of all aircraft currently in flight and the route information corresponding to the flight request, determine whether the route information corresponding to the flight request is safe. When the route information corresponding to the flight request is safe, confirmation information is fed back.
  • the control module of the target aircraft receives the flight obstacle avoidance parameters sent by the flight management unit, wherein the flight obstacle avoidance parameters are obtained based on the first flight parameters and the second flight parameters when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameters of each aircraft and the current second flight parameters of multiple flying objects obtained from the ground detection station.
  • the process of determining whether the target aircraft has a collision risk is similar to the process of determining whether each aircraft has a collision risk for the target aircraft in the above-mentioned embodiment, and the process of obtaining the flight obstacle avoidance parameters is similar to the process of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft in the above-mentioned embodiment, which will not be repeated here.
  • the control module obtains obstacle information of the surrounding environment through the perception module of the target aircraft.
  • the obstacle information includes information of dynamic obstacles and information of static obstacles. Specifically, the obstacle information of the surrounding environment is obtained in real time through the perception module of the aircraft.
  • the perception module may include at least one of sensors such as a camera, a lidar, and a millimeter-wave radar.
  • the obstacle information includes location information, height information, and size information of the obstacle.
  • the control module performs flight control based on the obstacle information and the flight obstacle avoidance parameters.
  • the control module of the target aircraft determines whether there is a target obstacle located on the route corresponding to the route information based on the route information, obstacle information and flight obstacle avoidance parameters of the target aircraft. If the target obstacle exists, the control module obtains the target obstacle information corresponding to the target obstacle based on the obstacle information and the flight obstacle avoidance parameters, and determines an obstacle avoidance path based on the obstacle avoidance requirements of the flight control planning, the route information and the target obstacle information, and then executes the obstacle avoidance path to perform flight control on the target aircraft, so that the target aircraft flies according to the obstacle avoidance path.
  • the flight management unit By receiving the flight obstacle avoidance parameters sent by the flight management unit, wherein the flight obstacle avoidance parameters are obtained based on the first flight parameters and the second flight parameters when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameters of each aircraft and the current second flight parameters of multiple aircraft obtained from the ground detection station; then the obstacle information of the surrounding environment is obtained through the perception module of the target aircraft; and then the flight control is performed based on the obstacle information and the flight obstacle avoidance parameters.
  • the aircraft that needs to avoid obstacles can be avoided through the flight parameters of the aircraft, the flight parameters of the aircraft and the obstacle information corresponding to the aircraft.
  • the flight control of the aircraft is performed by fusing the aircraft planning results (flight obstacle avoidance parameters) output by the flight management unit (cloud) with the obstacle information perceived by the aircraft, thereby accurately performing low-altitude aviation obstacle avoidance on the aircraft flying at low altitude, thereby improving the accuracy of low-altitude obstacle avoidance.
  • step S703 includes:
  • Step S801 determining whether the target aircraft currently has an obstacle avoidance risk based on the obstacle information and the flight obstacle avoidance parameters
  • Step S802 If there is an obstacle avoidance risk, an obstacle avoidance path is determined and executed.
  • step S801 includes: based on the route information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, determining whether there is a target obstacle located on the route corresponding to the route information, wherein if the target obstacle exists, it is determined that there is an obstacle avoidance risk.
  • the route information of the target aircraft is obtained, and based on the route information, flight obstacle avoidance parameters and obstacle information, it is determined whether there is a target obstacle located on the route corresponding to the route information, that is, whether there is an obstacle avoidance risk obstacle on the route corresponding to the route information. If there is an obstacle avoidance risk obstacle, it is determined that there is an obstacle avoidance risk.
  • the obstacle avoidance risk obstacle can be the aircraft corresponding to the flight obstacle avoidance parameters or the obstacle corresponding to the obstacle information.
  • the control determines the obstacle avoidance path and executes the obstacle avoidance path, that is, the target aircraft is controlled to fly according to the obstacle avoidance path to avoid or bypass the obstacle with the obstacle avoidance risk, thereby achieving low-altitude obstacle avoidance of the target aircraft.
  • step S802 includes:
  • Step S8021 based on the obstacle information and the flight obstacle avoidance parameters, obtaining target obstacle information corresponding to the obstacle avoidance risk obstacle;
  • Step S8021 determining the obstacle avoidance path based on the obstacle avoidance requirements of flight control planning, the route information and the target obstacle information.
  • the control module obtains the target obstacle information corresponding to the obstacle avoidance risk obstacle based on the obstacle information and the flight obstacle avoidance parameters. If the obstacle avoidance risk obstacle is the aircraft corresponding to the flight obstacle avoidance parameters, the target obstacle information may be the direction and speed of the aircraft. If the obstacle avoidance risk obstacle is the obstacle corresponding to the obstacle information, the target obstacle information may be the obstacle position, obstacle height, obstacle size and other information. Then, based on the obstacle avoidance requirements of the flight control planning, the route information and the target obstacle information, an obstacle avoidance path is determined. Specifically, an obstacle avoidance path that meets the obstacle avoidance requirements of the flight control planning is determined according to the target obstacle information combined with the size information of the target aircraft, thereby accurately obtaining the obstacle avoidance path.
  • the target aircraft Based on the obstacle information and the flight obstacle avoidance parameters, it is determined whether the target aircraft currently has an obstacle avoidance risk; then if there is an obstacle avoidance risk, an obstacle avoidance path is determined and executed.
  • the obstacle avoidance path can be accurately determined according to the obstacle avoidance requirements of the flight control planning and the target obstacle information, further improving the accuracy of low-altitude obstacle avoidance.
  • an embodiment of the present application further provides an aircraft obstacle avoidance system, the aircraft obstacle avoidance system comprising a flight management unit and a plurality of aircraft, wherein:
  • the flight management unit is used to obtain the current first flight parameters of each aircraft and obtain the current second flight parameters of multiple flying objects from the ground detection station;
  • the flight management unit is further used to determine whether each aircraft has a target aircraft with a collision risk based on the first flight parameter and the second flight parameter;
  • the flight management unit is further configured to, if there is a target aircraft, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
  • the target aircraft is used to perform flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the perception module of the target aircraft.
  • the present application also proposes a computer-readable storage medium, on which computer-readable instructions are stored.
  • the computer-readable instructions are executed by a processor, the steps of the aircraft obstacle avoidance method as described above are implemented.
  • the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.
  • a storage medium such as ROM/RAM, magnetic disk, optical disk
  • a terminal device which can be a mobile phone, computer, server, air conditioner, or network device, etc.

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Abstract

The present application discloses an aircraft obstacle avoidance method and system and a computer readable storage medium. The method comprises: obtaining current first flight parameters of each aircraft; obtaining, from a ground detection station, current second flight parameters of a plurality of flying objects; determining whether a target aircraft having a collision risk exists among the aircrafts; and if the target aircraft exists, obtaining flight obstacle avoidance parameters corresponding to the target aircraft, and sending the flight obstacle avoidance parameters to the target aircraft, the target aircraft performing flight control on the basis of the flight obstacle avoidance parameters and obstacle information currently obtained by a sensing module of the target aircraft.

Description

飞行器避障方法、***及计算机可读存储介质Aircraft obstacle avoidance method, system and computer readable storage medium
本申请要求于2022年10月17日提交中国专利局、申请号为202211271105.1、发明名称为“飞行器避障方法、***及计算机可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在申请中。This application claims priority to the Chinese patent application filed with the China Patent Office on October 17, 2022, with application number 202211271105.1 and invention name “Aircraft Obstacle Avoidance Method, System and Computer-Readable Storage Medium”, all contents of which are incorporated by reference in the application.
技术领域Technical Field
本申请涉及飞行器技术领域，尤其涉及一种飞行器避障方法、***及计算机可读存储介质。The present application relates to the field of aircraft technology, and in particular to an aircraft obstacle avoidance method, system and computer-readable storage medium.
背景技术Background technique
目前，低空飞行器是目前新兴的一个飞行领域，相比于传统民航领域，具有飞行高度低、航线灵活度高、飞行距离短等特点。由于这些特点，低空飞行需要避开众多的静态障碍物，如高楼、高的树木、电线杆等，是低空飞行相比于民航的一大难点。同时，低空飞行需要在同区域内防止同类型飞行器碰撞，也需要避开无人机、飞鸟等动态目标。At present, low-altitude aircraft is an emerging flight field. Compared with the traditional civil aviation field, it has the characteristics of low flight altitude, high route flexibility, and short flight distance. Due to these characteristics, low-altitude flight needs to avoid many static obstacles, such as high-rise buildings, tall trees, and telephone poles, which is a major difficulty of low-altitude flight compared to civil aviation. At the same time, low-altitude flight needs to prevent collisions between similar aircraft in the same area, and also needs to avoid dynamic targets such as drones and flying birds.
现有航空避障技术多用于高空，仅在两架飞机有碰撞风险时使能，动态场景较为单一，也就是主要针对高空飞机和飞机之间，而对于低空的复杂静态障碍物、飞鸟、风筝、无人机等低空动态障碍物，难以通过现有的航空避障方式进行规避。Existing aviation obstacle avoidance technology is mostly used at high altitudes and is only enabled when there is a risk of collision between two aircraft. The dynamic scenarios are relatively simple, that is, it is mainly aimed at between high-altitude aircraft. However, it is difficult to avoid complex static obstacles at low altitudes, flying birds, kites, drones and other low-altitude dynamic obstacles through existing aviation obstacle avoidance methods.
上述内容仅用于辅助理解本申请的技术方案，并不代表承认上述内容是现有技术。The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art.
技术问题technical problem
本申请的主要目的在于提供一种飞行器避障方法、***及计算机可读存储介质，旨在解决现有无法进行准确的低空航空避障的技术问题。The main purpose of this application is to provide an aircraft obstacle avoidance method, system and computer-readable storage medium, aiming to solve the existing technical problem of being unable to perform accurate low-altitude aviation obstacle avoidance.
技术解决方案Technical Solutions
为实现上述目的，本申请提供一种飞行器避障方法，应用于飞行管理单元，包括以下步骤：To achieve the above objectives, the present application provides an aircraft obstacle avoidance method, which is applied to a flight management unit and includes the following steps:
获取各个飞行器当前的第一飞行参数；Obtain the current first flight parameters of each aircraft;
从地面侦测站获取多个飞行物当前的第二飞行参数；Acquire current second flight parameters of multiple flying objects from a ground detection station;
基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器；Based on the first flight parameter and the second flight parameter, determining whether there is a target aircraft with a collision risk among the aircraft;
若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器，其中，所述目标飞行器基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制。If there is a target aircraft, flight obstacle avoidance parameters corresponding to the target aircraft are obtained based on the first flight parameters and the second flight parameters, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and obstacle information currently obtained by the perception module of the target aircraft.
进一步地，基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器的步骤包括：Further, based on the first flight parameter and the second flight parameter, the step of determining whether there is a target aircraft with a collision risk among the aircraft includes:
基于所述第一飞行参数更新飞行器运行图，并基于所述第二飞行参数更新飞行物运行图；updating an aircraft operations diagram based on the first flight parameters, and updating an aircraft operations diagram based on the second flight parameters;
基于所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器。Based on the aircraft operation diagram and the flying object operation diagram, it is determined whether there is a target aircraft with a collision risk among the various aircraft.
进一步地，所述基于所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器的步骤包括：Furthermore, the step of determining whether there is a target aircraft with a collision risk among the various aircraft based on the aircraft operation diagram and the flying object operation diagram includes:
获取云地图，其中，所述云地图包括地面障碍物的高度信息以及位置信息；Acquire a cloud map, wherein the cloud map includes height information and location information of ground obstacles;
基于所述云地图、所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器。Based on the cloud map, the aircraft operation diagram, and the flying object operation diagram, it is determined whether there is a target aircraft with a collision risk among the various aircraft.
进一步地，所述基于所述第一飞行参数更新飞行器运行图的步骤包括：Further, the step of updating the aircraft operation diagram based on the first flight parameter includes:
获取各个飞行器对应的飞行器计划表，其中，所述飞行器计划表包括各个飞行器的航线信息以及飞行时间信息；Acquire an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule includes route information and flight time information of each aircraft;
基于所述第一飞行参数以及所述飞行器计划表，确定第一预设时长内各个飞行器对应的第一预测飞行路径；Determining a first predicted flight path corresponding to each aircraft within a first preset duration based on the first flight parameter and the aircraft plan table;
基于所述第一预测飞行路径以及所述第一飞行参数更新所述飞行器运行图。The aircraft operations diagram is updated based on the first predicted flight path and the first flight parameters.
进一步地，所述基于所述第二飞行参数更新飞行物运行图的步骤包括：Further, the step of updating the flying object operation diagram based on the second flight parameter includes:
基于所述第二飞行参数，确定第一预设时长内各个飞行物对应的第二预测飞行路径；Determining a second predicted flight path corresponding to each flying object within a first preset time period based on the second flight parameter;
基于所述第二预测飞行路径以及所述第二飞行参数更新所述飞行物运行图。The aircraft operation diagram is updated based on the second predicted flight path and the second flight parameters.
进一步地，其中，所述基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数的步骤包括：Furthermore, the step of acquiring the flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter includes:
基于所述第一飞行参数确定所述目标飞行器的当前位置信息；Determine the current position information of the target aircraft based on the first flight parameter;
基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数。The flight obstacle avoidance parameter is acquired based on the current position information, the first flight parameter, and the second flight parameter.
进一步地，所述基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数的步骤包括：Furthermore, the step of acquiring the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter includes:
获取所述第一飞行参数中位于所述当前位置信息对应预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数；Acquire a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
将所述第一目标飞行参数以及所述第二目标飞行参数作为所述飞行避障参数。The first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters.
此外，为实现上述目的，本申请还提供一种飞行器避障方法，应用于目标飞行器的控制模块，包括以下步骤：In addition, to achieve the above-mentioned purpose, the present application also provides an aircraft obstacle avoidance method, which is applied to a control module of a target aircraft, and comprises the following steps:
接收飞行管理单元发送的飞行避障参数，其中，所述飞行避障参数由所述飞行管理单元基于各个飞行器当前的第一飞行参数以及从地面侦测站获取到的多个飞行物当前的第二飞行参数确定所述目标飞行器存在碰撞风险时，基于所述第一飞行参数以及所述第二飞行参数获得；receiving a flight obstacle avoidance parameter sent by a flight management unit, wherein the flight obstacle avoidance parameter is obtained based on the first flight parameter and the second flight parameter when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameter of each aircraft and the current second flight parameters of multiple flying objects obtained from a ground detection station;
通过所述目标飞行器的感知模块获取周围环境的障碍物信息；Obtaining obstacle information of the surrounding environment through the perception module of the target aircraft;
基于所述障碍物信息以及所述飞行避障参数进行飞行控制。Flight control is performed based on the obstacle information and the flight obstacle avoidance parameters.
进一步地，所述基于所述障碍物信息以及所述飞行避障参数进行飞行控制的步骤包括：Furthermore, the step of performing flight control based on the obstacle information and the flight obstacle avoidance parameters includes:
基于所述障碍物信息以及所述飞行避障参数，确定所述目标飞行器当前是否存在避障风险；Based on the obstacle information and the flight obstacle avoidance parameters, determining whether the target aircraft currently faces an obstacle avoidance risk;
若存在避障风险，则确定避障路径，并执行所述避障路径。If there is an obstacle avoidance risk, an obstacle avoidance path is determined and executed.
进一步地，所述基于所述障碍物信息确定当前是否存在避障风险的步骤包括：Furthermore, the step of determining whether there is currently an obstacle avoidance risk based on the obstacle information includes:
基于所述目标飞行器的航线信息、所述障碍物信息以及所述飞行避障参数，确定是否存在位于所述航线信息对应航线的避障风险障碍物，其中，若存在所述避障风险障碍物，则确定存在避障风险。Based on the route information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, it is determined whether there is an obstacle avoidance risk obstacle located on the route corresponding to the route information, wherein if the obstacle avoidance risk obstacle exists, it is determined that there is an obstacle avoidance risk.
进一步地，所述确定避障路径的步骤包括：Furthermore, the step of determining the obstacle avoidance path includes:
基于所述障碍物信息以及所述飞行避障参数，获取所述避障风险障碍物对应的目标障碍物信息；Based on the obstacle information and the flight obstacle avoidance parameters, obtaining target obstacle information corresponding to the obstacle avoidance risk obstacle;
基于飞管规划避障要求、所述航线信息以及所述目标障碍物信息，确定所述避障路径。The obstacle avoidance path is determined based on the obstacle avoidance requirements of flight control planning, the route information, and the target obstacle information.
进一步地，所述感知模块包括摄像头、激光雷达以及毫米波雷达中的至少一种。Furthermore, the perception module includes at least one of a camera, a laser radar and a millimeter wave radar.
此外，为实现上述目的，本申请还提供一种飞行器避障***，所述飞行器避障***包括飞行管理单元以及多个飞行器，其中：In addition, to achieve the above-mentioned purpose, the present application also provides an aircraft obstacle avoidance system, the aircraft obstacle avoidance system comprising a flight management unit and a plurality of aircraft, wherein:
所述飞行管理单元，用于获取各个飞行器当前的第一飞行参数，并从地面侦测站获取多个飞行物当前的第二飞行参数；The flight management unit is used to obtain the current first flight parameters of each aircraft and obtain the current second flight parameters of multiple flying objects from the ground detection station;
所述飞行管理单元，还用于基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器；The flight management unit is further used to determine whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter;
所述飞行管理单元，还用于若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器；The flight management unit is further configured to, if there is a target aircraft, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
所述目标飞行器，用于基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制The target aircraft is used to perform flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the perception module of the target aircraft.
此外，为实现上述目的，本申请还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机可读指令，所述计算机可读指令被处理器执行时实现前述的飞行器避障方法的步骤。In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the steps of the aforementioned aircraft obstacle avoidance method are implemented.
有益效果Beneficial Effects
本申请通过获取各个飞行器当前的第一飞行参数；接着从地面侦测站获取多个飞行物当前的第二飞行参数；而后基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器是否存在碰撞风险的目标飞行器；最后若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器，其中，所述目标飞行器基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制，能够通过飞行器的飞行参数、飞行器的飞行参数以及飞行器对应的障碍物信息对需要进行避障的飞行器进行避障，通过将飞行管理单元（云端）输出的飞行器规划结果（飞行避障参数）与飞行器感知的障碍物信息进行融合来进行飞行器的飞行控制，进而对低空飞行的飞行器进行准确的低空航空避障，提高了低空避障的准确性。The present application obtains the current first flight parameter of each aircraft; then obtains the current second flight parameters of multiple aircraft from a ground detection station; and then determines whether each aircraft has a target aircraft with a collision risk based on the first flight parameter and the second flight parameter; finally, if there is a target aircraft, the flight obstacle avoidance parameters corresponding to the target aircraft are obtained based on the first flight parameter and the second flight parameter, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and the obstacle information currently obtained by the perception module of the target aircraft, and can avoid obstacles for aircraft that need to avoid obstacles through the flight parameters of the aircraft, the flight parameters of the aircraft and the obstacle information corresponding to the aircraft, and the flight control of the aircraft is performed by fusing the aircraft planning results (flight obstacle avoidance parameters) output by the flight management unit (cloud) with the obstacle information perceived by the aircraft, thereby accurately performing low-altitude aviation obstacle avoidance on low-altitude aircraft, thereby improving the accuracy of low-altitude obstacle avoidance.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本申请实施例方案涉及的硬件运行环境中飞行避障装置结构示意图；FIG1 is a schematic diagram of the structure of a flight obstacle avoidance device in a hardware operating environment involved in an embodiment of the present application;
图2为本申请飞行器避障方法第一实施例的流程示意图；FIG2 is a schematic diagram of a flow chart of a first embodiment of an aircraft obstacle avoidance method of the present application;
图3为本申请飞行器避障方法第七实施例的流程示意图。FIG3 is a flow chart of a seventh embodiment of the aircraft obstacle avoidance method of the present application.
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.
本申请的实施方式Embodiments of the present application
应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
如图1所示，图1是本申请实施例方案涉及的硬件运行环境中飞行避障装置结构示意图。As shown in FIG. 1 , FIG. 1 is a schematic diagram of the structure of a flight obstacle avoidance device in a hardware operating environment involved in an embodiment of the present application.
本申请实施例终端可以是飞行器避障***，也可以是飞行管理单元或者飞行器等低空飞行器。The terminal in the embodiment of the present application may be an aircraft obstacle avoidance system, or may be a flight management unit or a low-altitude aircraft such as an aircraft.
如图1所示，该飞行避障装置可以包括：处理器1001，例如CPU，网络接口1004，用户接口1003，存储器1005，通信总线1002。其中，通信总线1002用于实现这些组件之间的连接通信。用户接口1003可以包括显示屏（Display）、输入单元比如键盘（Keyboard），可选用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口（如WI-FI接口）。存储器1005可以是高速RAM存储器，也可以是稳定的存储器（non-volatile memory），例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。As shown in FIG1 , the flight obstacle avoidance device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.
可选地，飞行避障装置还可以包括摄像头、RF（Radio Frequency，射频）电路，传感器、音频电路、WiFi模块等等。其中，传感器比如光传感器、运动传感器以及其他传感器。具体地，光传感器可包括激光雷达、毫米波雷达等；当然，飞行避障装置还可配置陀螺仪、气压计、湿度计、温度计、红外线传感器等其他传感器，在此不再赘述。Optionally, the flight obstacle avoidance device may also include a camera, RF (Radio Frequency) circuit, sensor, audio circuit, WiFi module, etc. Among them, sensors include light sensors, motion sensors and other sensors. Specifically, the light sensor may include a laser radar, a millimeter wave radar, etc.; of course, the flight obstacle avoidance device may also be equipped with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be repeated here.
本领域技术人员可以理解，图1中示出的终端结构并不构成对飞行避障装置的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。Those skilled in the art will appreciate that the terminal structure shown in FIG. 1 does not constitute a limitation on the flight obstacle avoidance device, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.
如图1所示，作为一种计算机存储介质的存储器1005中可以包括操作***、网络通信模块、用户接口模块以及计算机可读指令。As shown in FIG. 1 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and computer-readable instructions.
在图1所示的飞行避障装置中，网络接口1004主要用于连接后台服务器，与后台服务器进行数据通信；用户接口1003主要用于连接客户端（用户端），与客户端进行数据通信；而处理器1001可以用于调用存储器1005中存储的计算机可读指令。In the flight obstacle avoidance device shown in Figure 1, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the computer-readable instructions stored in the memory 1005.
在本实施例中，飞行避障装置包括：存储器1005、处理器1001及存储在所述存储器1005上并可在所述处理器1001上运行的计算机可读指令，其中，处理器1001调用存储器1005中存储的计算机可读指令时，执行以下各个实施例中飞行器避障方法的步骤。In this embodiment, the flight obstacle avoidance device includes: a memory 1005, a processor 1001, and computer-readable instructions stored on the memory 1005 and executable on the processor 1001, wherein when the processor 1001 calls the computer-readable instructions stored in the memory 1005, the steps of the aircraft obstacle avoidance method in the following embodiments are executed.
本申请还提供一种飞行器避障方法，参照图2，图2为本申请飞行器避障方法第一实施例的流程示意图。The present application also provides an aircraft obstacle avoidance method, referring to FIG. 2 , which is a flow chart of a first embodiment of the aircraft obstacle avoidance method of the present application.
飞行器避障方法应用于飞行器避障***的飞行管理单元，所述飞行器避障***包括飞行管理单元以及多个飞行器，进一步地，该飞行器避障***也可以包括地面侦测站，其中地面侦测站可以使用地面站雷达、频谱雷达等方式对区域内的飞行运动的飞行物进行监控，得到飞行物的位置、速度、朝向信息，飞行物可以为飞鸟、风筝、无人机等低空动态障碍物，飞行管理单元为飞行器的调度***，飞行器向飞行管理单元申请飞行路线，飞行管理单元批准飞行计划，在运行过程中，飞行管理单元会对所有飞行器状态进行持续监控和管理，其中，该飞行管理单元可设置于云端，即飞行管理单元为云端飞行管理单元。飞行器为当前与云端的飞行管理单元进行通信连接的飞行器，飞行物当前未与云端的飞行管理单元建立通信连接或者不可与云端的飞行管理单元建立通信连接，但可通过地面侦测站获取飞行物的飞行参数。The aircraft obstacle avoidance method is applied to the flight management unit of the aircraft obstacle avoidance system, wherein the aircraft obstacle avoidance system includes a flight management unit and a plurality of aircrafts. Further, the aircraft obstacle avoidance system may also include a ground detection station, wherein the ground detection station may use ground station radar, spectrum radar, etc. to monitor the flying objects in the region, and obtain the position, speed, and direction information of the flying objects. The flying objects may be low-altitude dynamic obstacles such as birds, kites, and drones. The flight management unit is the scheduling system of the aircraft. The aircraft applies to the flight management unit for a flight route, and the flight management unit approves the flight plan. During operation, the flight management unit will continuously monitor and manage the status of all aircrafts, wherein the flight management unit may be set in the cloud, that is, the flight management unit is a cloud flight management unit. The aircraft is an aircraft currently communicating with the cloud flight management unit. The flying object currently has no communication connection with the cloud flight management unit or cannot establish a communication connection with the cloud flight management unit, but the flight parameters of the flying object can be obtained through the ground detection station.
该飞行器避障方法包括：The aircraft obstacle avoidance method includes:
步骤S101，获取各个飞行器当前的第一飞行参数；Step S101, obtaining the current first flight parameter of each aircraft;
飞行管理单元获取各个飞行器当前的第一飞行参数，其中，该第一飞行参数包括飞行器当前的第一位置信息、第一速度、第一加速度（包括横摆角速度）、第一朝向（当前飞行方向）以及第一预设时长内飞行器对应的第一预测飞行路径，各个飞行器实时将其对应的第一飞行参数上报至飞行管理单元，第一预设时长可进行合理设置，例如第一预设时长为10秒、30秒、1分钟、5分钟等，该飞行管理单元可实时或定时获取第一飞行参数。The flight management unit obtains the current first flight parameters of each aircraft, wherein the first flight parameters include the current first position information, first speed, first acceleration (including yaw angular velocity), first orientation (current flight direction) and the first predicted flight path corresponding to the aircraft within a first preset time period. Each aircraft reports its corresponding first flight parameters to the flight management unit in real time. The first preset time period can be reasonably set. For example, the first preset time period is 10 seconds, 30 seconds, 1 minute, 5 minutes, etc. The flight management unit can obtain the first flight parameters in real time or periodically.
步骤S102，从地面侦测站获取多个飞行物当前的第二飞行参数；Step S102, obtaining current second flight parameters of multiple flying objects from a ground detection station;
飞行管理单元从地面侦测站获取多个飞行物当前的第二飞行参数，具体地，飞行物包括风筝、无人机、直升机等低空动态障碍物中的一种或多种，还可以包括飞鸟等动态飞行的动物，地面侦测站设有多个，地面侦测站实时侦测其对应区域内的飞行物的第二飞行参数，并将第二飞行参数上报至飞行管理单元，第二飞行参数至少包括各个飞行物当前的第二位置信息、第二速度、第二加速度（包括横摆角速度）以及第二朝向等。The flight management unit obtains the current second flight parameters of multiple flying objects from the ground detection station. Specifically, the flying objects include one or more low-altitude dynamic obstacles such as kites, drones, helicopters, and may also include dynamically flying animals such as birds. There are multiple ground detection stations. The ground detection stations detect the second flight parameters of the flying objects in their corresponding areas in real time and report the second flight parameters to the flight management unit. The second flight parameters include at least the current second position information, second speed, second acceleration (including yaw angular velocity) and second orientation of each flying object.
步骤S103，基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器；Step S103, determining whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter;
获取到第一飞行参数以及第二飞行参数之后，飞行管理单元基于第一飞行参数以及第二飞行参数确定各个飞行器中是否存在碰撞风险的目标飞行器，即确定各个飞行器之间是否存在碰撞风险，以及各个飞行器与各个飞行物之间是否存在碰撞风险。After obtaining the first flight parameter and the second flight parameter, the flight management unit determines whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter, that is, determines whether there is a collision risk between the aircraft, and whether there is a collision risk between each aircraft and each flying object.
具体地，飞行管理单元可以通过各个第一飞行参数确定各个飞行器对应的第一预测飞行路径，通过第二飞行参数确定各个飞行器对应的第二预测飞行路径，飞行管理单元确定各个第一预测飞行路径之间在各个时刻是否存在交汇区域，以及各个第一预测飞行路径与各个第二预测飞行路径之间在各个时刻是否存在交汇区域，若存在交汇区域，则飞行管理单元确定存在目标飞行器。或者，飞行管理单元通过第一飞行参数更新飞行器运行图，并基于第二飞行参数更新飞行物运行图，通过飞行器运行图以及飞行物运行图，飞行管理单元确定各个飞行器中是否存在碰撞风险的目标飞行器。Specifically, the flight management unit can determine the first predicted flight path corresponding to each aircraft through each first flight parameter, and determine the second predicted flight path corresponding to each aircraft through the second flight parameter. The flight management unit determines whether there is an intersection area between each first predicted flight path at each time, and whether there is an intersection area between each first predicted flight path and each second predicted flight path at each time. If there is an intersection area, the flight management unit determines that there is a target aircraft. Alternatively, the flight management unit updates the aircraft operation diagram through the first flight parameter, and updates the flying object operation diagram based on the second flight parameter. Through the aircraft operation diagram and the flying object operation diagram, the flight management unit determines whether there is a target aircraft with a collision risk among each aircraft.
步骤S104，若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器，其中，所述目标飞行器基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制。Step S104: If there is a target aircraft, based on the first flight parameter and the second flight parameter, obtain the flight obstacle avoidance parameters corresponding to the target aircraft, and send the flight obstacle avoidance parameters to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and the obstacle information currently obtained by the perception module of the target aircraft.
若存在目标飞行器，则飞行管理单元基于第一飞行参数以及第二飞行参数，获取目标飞行器对应的飞行避障参数，具体地，飞行管理单元在第一飞行参数中获取目标飞行器的当前位置信息，并根据该当前位置信息在第一飞行参数以及第二飞行参数获取该飞行避障参数，而后将飞行避障参数发送至所述目标飞行器。If there is a target aircraft, the flight management unit obtains the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameter and the second flight parameter. Specifically, the flight management unit obtains the current position information of the target aircraft in the first flight parameter, and obtains the flight obstacle avoidance parameters in the first flight parameter and the second flight parameter based on the current position information, and then sends the flight obstacle avoidance parameters to the target aircraft.
接收到飞行避障参数时，目标飞行器通过其感知模块获取周围环境的障碍物信息，并根据飞行避障参数以及障碍物信息进行飞行控制，具体地，目标飞行器的控制模块目标飞行器的航线信息、障碍物信息以及飞行避障参数，确定是否存在位于所述航线信息对应航线的目标障碍物，若存在所述目标障碍物，则控制模块基于障碍物信息以及飞行避障参数，获取目标障碍物对应的目标障碍物信息，并基于飞管规划避障要求、航线信息以及所述目标障碍物信息，确定避障路径，然后执行该避障路径以对目标飞行器进行飞行控制，以使目标飞行器按照避障路径进行飞行。When receiving the flight obstacle avoidance parameters, the target aircraft obtains obstacle information of the surrounding environment through its perception module, and performs flight control according to the flight obstacle avoidance parameters and the obstacle information. Specifically, the control module of the target aircraft determines whether there is a target obstacle located on the route corresponding to the route information based on the route information, obstacle information and flight obstacle avoidance parameters of the target aircraft. If the target obstacle exists, the control module obtains the target obstacle information corresponding to the target obstacle based on the obstacle information and the flight obstacle avoidance parameters, and determines an obstacle avoidance path based on the obstacle avoidance requirements of the flight control planning, the route information and the target obstacle information, and then executes the obstacle avoidance path to control the flight of the target aircraft, so that the target aircraft flies according to the obstacle avoidance path.
通过获取各个飞行器当前的第一飞行参数；接着从地面侦测站获取多个飞行物当前的第二飞行参数；而后基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器；最后若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器，其中，所述目标飞行器基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制，能够通过飞行器的飞行参数、飞行器的飞行参数以及飞行器对应的障碍物信息对需要进行避障的飞行器进行避障，通过将飞行管理单元（云端）输出的飞行器规划结果（飞行避障参数）与飞行器感知的障碍物信息进行融合来进行飞行器的飞行控制，进而对低空飞行的飞行器进行准确的低空航空避障，提高了低空避障的准确性。By acquiring the current first flight parameter of each aircraft; then acquiring the current second flight parameters of multiple aircraft from the ground detection station; and then determining whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter; finally, if there is a target aircraft, the flight obstacle avoidance parameters corresponding to the target aircraft are acquired based on the first flight parameter and the second flight parameter, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the perception module of the target aircraft, and can avoid obstacles for aircraft that need to avoid obstacles through the flight parameters of the aircraft, the flight parameters of the aircraft and the obstacle information corresponding to the aircraft, and the flight control of the aircraft is performed by fusing the aircraft planning results (flight obstacle avoidance parameters) output by the flight management unit (cloud) with the obstacle information perceived by the aircraft, thereby accurately performing low-altitude aviation obstacle avoidance on low-altitude aircraft, thereby improving the accuracy of low-altitude obstacle avoidance.
基于第一实施例，提出本申请飞行器避障方法的第二实施例，包括第一实施例的全部内容，其中，步骤S103包括：Based on the first embodiment, a second embodiment of the aircraft obstacle avoidance method of the present application is proposed, which includes all the contents of the first embodiment, wherein step S103 includes:
步骤S201，基于所述第一飞行参数更新飞行器运行图，并基于所述第二飞行参数更新飞行物运行图；Step S201, updating an aircraft operation diagram based on the first flight parameters, and updating an aircraft operation diagram based on the second flight parameters;
步骤S202，基于所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器。Step S202: Determine whether there is a target aircraft with a collision risk among the aircraft based on the aircraft operation diagram and the flying object operation diagram.
获取到第一飞行参数以及第二飞行参数，飞行管理单元基于第一飞行参数更新飞行器运行图，并基于第二飞行参数更新飞行物运行图，具体地，飞行管理单元基于第一飞行参数确定第一预设时长内各个飞行器对应的第一预测飞行路径，并基于第一预测飞行路径以及第一飞行参数更新飞行器运行图，即在飞行器运行图更新各个飞行器的第一位置信息、第一速度、第一加速度、第一朝向以及第一预测飞行路径；同时，飞行管理单元基于第二飞行参数确定第一预设时长内各个飞行物对应的第二预测飞行路径，并基于第二预测飞行路径以及第二飞行参数更新飞行物运行图，即在飞行物运行图更新各个飞行物的第二位置信息、第二速度、第二加速度、第二朝向以及第二预测飞行路径。After obtaining the first flight parameter and the second flight parameter, the flight management unit updates the aircraft operation diagram based on the first flight parameter, and updates the flying object operation diagram based on the second flight parameter. Specifically, the flight management unit determines a first predicted flight path corresponding to each aircraft within a first preset time period based on the first flight parameter, and updates the aircraft operation diagram based on the first predicted flight path and the first flight parameter, that is, updates the first position information, first speed, first acceleration, first direction and first predicted flight path of each aircraft in the aircraft operation diagram; at the same time, the flight management unit determines a second predicted flight path corresponding to each flying object within the first preset time period based on the second flight parameter, and updates the flying object operation diagram based on the second predicted flight path and the second flight parameter, that is, updates the second position information, second speed, second acceleration, second direction and second predicted flight path of each flying object in the flying object operation diagram.
接着，飞行管理单元基于飞行器运行图以及飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器，具体地，飞行管理单元基于更新后的飞行器运行图以及更新后的飞行物运行图，确定各个第一预测飞行路径之间在各个时刻是否存在交汇区域，以及各个第一预测飞行路径与各个第二预测飞行路径之间在各个时刻是否存在交汇区域，若存在任一交汇区域，则飞行管理单元确定存在目标飞行器。Next, the flight management unit determines whether there is a target aircraft with a collision risk among the aircraft based on the aircraft operation diagram and the flying object operation diagram. Specifically, the flight management unit determines whether there is an intersection area between each first predicted flight path at each moment, and whether there is an intersection area between each first predicted flight path and each second predicted flight path at each moment based on the updated aircraft operation diagram and the updated flying object operation diagram. If any intersection area exists, the flight management unit determines that there is a target aircraft.
通过基于所述第一飞行参数更新飞行器运行图，并基于所述第二飞行参数更新飞行物运行图；接着基于所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器，能够根据更新后的飞行器运行图以及更新后的飞行物运行图准确确定目标飞行器，进而准确实现低空飞行的飞行器的低空航空避障，进一步提高了低空避障的准确性。By updating the aircraft operation diagram based on the first flight parameter, and updating the flying object operation diagram based on the second flight parameter; and then determining whether there is a target aircraft with a collision risk among the various aircraft based on the aircraft operation diagram and the flying object operation diagram, the target aircraft can be accurately determined according to the updated aircraft operation diagram and the updated flying object operation diagram, thereby accurately achieving low-altitude aviation obstacle avoidance for low-flying aircraft, and further improving the accuracy of low-altitude obstacle avoidance.
基于第二实施例，提出本申请飞行器避障方法的第三实施例，包括第二实施例的全部内容，其中，步骤S202包括：Based on the second embodiment, a third embodiment of the aircraft obstacle avoidance method of the present application is proposed, which includes all the contents of the second embodiment, wherein step S202 includes:
步骤S301，获取云地图，其中，所述云地图包括地面障碍物的高度信息以及位置信息；Step S301, obtaining a cloud map, wherein the cloud map includes height information and location information of ground obstacles;
步骤S302，基于所述云地图、所述飞行器运行图以及所述飞行物运行图，确定各个飞行器是否存在碰撞风险的目标飞行器。Step S302: Determine whether each aircraft has a target aircraft with which there is a risk of collision based on the cloud map, the aircraft operation diagram, and the flying object operation diagram.
在获取到飞行器运行图以及飞行物运行图时，飞行管理单元还获取云地图，其中，云地图包括地面障碍物的高度信息以及位置信息。When obtaining the aircraft operation diagram and the flying object operation diagram, the flight management unit also obtains a cloud map, wherein the cloud map includes height information and position information of ground obstacles.
接着，飞行管理单元基于所述云地图、飞行器运行图以及飞行器运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器，具体地，飞行管理单元基于更新后的飞行器运行图以及更新后的飞行物运行图，确定各个第一预测飞行路径之间在各个时刻是否存在交汇区域，以及各个第一预测飞行路径与各个第二预测飞行路径之间在各个时刻是否存在交汇区域，并基于更新后的飞行器运行图、飞行物运行图以及云地图，确定各个飞行器是否存在与地面障碍物之间的碰撞风险，即各个飞行器第一预测飞行路径与地面障碍物之间是否存在交汇区域，若存在任一交汇区域，则飞行管理单元确定存在目标飞行器。Next, the flight management unit determines whether there is a target aircraft with a collision risk among the aircraft based on the cloud map, the aircraft operation diagram and the aircraft operation diagram. Specifically, the flight management unit determines whether there is an intersection area between each first predicted flight path at each moment, and whether there is an intersection area between each first predicted flight path and each second predicted flight path at each moment based on the updated aircraft operation diagram and the updated flying object operation diagram. The flight management unit also determines whether there is a collision risk between each aircraft and a ground obstacle, that is, whether there is an intersection area between the first predicted flight path of each aircraft and the ground obstacle, based on the updated aircraft operation diagram, the flying object operation diagram and the cloud map. If any intersection area exists, the flight management unit determines that there is a target aircraft.
通过获取云地图，其中，所述云地图包括地面障碍物的高度信息以及位置信息；接着基于所述云地图、所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器，能够根据云地图、更新后的飞行器运行图以及更新后的飞行物运行图准确确定目标飞行器，进而准确实现低空飞行的飞行器的低空航空避障，进一步提高了低空避障的准确性。By acquiring a cloud map, wherein the cloud map includes height information and location information of ground obstacles; and then based on the cloud map, the aircraft operation diagram and the flying object operation diagram, determining whether there is a target aircraft with a collision risk among the various aircraft, the target aircraft can be accurately determined according to the cloud map, the updated aircraft operation diagram and the updated flying object operation diagram, thereby accurately achieving low-altitude aviation obstacle avoidance for low-flying aircraft, and further improving the accuracy of low-altitude obstacle avoidance.
基于第二实施例，提出本申请飞行器避障方法的第四实施例，包括第二实施例的全部内容，其中，步骤S201包括：Based on the second embodiment, a fourth embodiment of the aircraft obstacle avoidance method of the present application is proposed, which includes all the contents of the second embodiment, wherein step S201 includes:
步骤S401，获取各个飞行器对应的飞行器计划表，其中，所述飞行器计划表包括各个飞行器的航线信息以及飞行时间信息；Step S401, obtaining an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule includes route information and flight time information of each aircraft;
步骤S402，基于所述第一飞行参数以及所述飞行器计划表，确定第一预设时长内各个飞行器对应的第一预测飞行路径；Step S402, determining a first predicted flight path corresponding to each aircraft within a first preset duration based on the first flight parameter and the aircraft plan table;
步骤S403，基于所述第一预测飞行路径以及所述第一飞行参数更新所述飞行器运行图。Step S403: updating the aircraft operation diagram based on the first predicted flight path and the first flight parameters.
在获取到第一飞行参数时，飞行管理单元获取各个飞行器对应的飞行器计划表，其中，飞行器计划表包括各个飞行器的航线信息以及飞行时间信息。飞行管理单元基于所述第一飞行参数以及所述飞行器计划表，确定第一预设时长内各个飞行器对应的第一预测飞行路径；即根据第一飞行参数中的第一位置信息、第一速度、第一加速度、第一朝向以及飞行器计划表，预测各个飞行器对应的第一预测飞行路径。When the first flight parameter is obtained, the flight management unit obtains the aircraft schedule corresponding to each aircraft, wherein the aircraft schedule includes the route information and flight time information of each aircraft. The flight management unit determines the first predicted flight path corresponding to each aircraft within the first preset time period based on the first flight parameter and the aircraft schedule; that is, the first predicted flight path corresponding to each aircraft is predicted based on the first position information, the first speed, the first acceleration, the first orientation in the first flight parameter and the aircraft schedule.
接着，飞行管理单元基于所述第一预测飞行路径以及所述第一飞行参数更新所述飞行器运行图，具体地，飞行管理单元可以在飞行器运行图更新各个飞行器的第一位置信息、第一速度、第一加速度、第一朝向以及第一预测飞行路径。Next, the flight management unit updates the aircraft operation diagram based on the first predicted flight path and the first flight parameter. Specifically, the flight management unit can update the first position information, first speed, first acceleration, first direction and first predicted flight path of each aircraft in the aircraft operation diagram.
通过获取各个飞行器对应的飞行器计划表，其中，所述飞行器计划表包括各个飞行器的航线信息以及飞行时间信息；接着基于所述第一飞行参数以及所述飞行器计划表，确定第一预设时长内各个飞行器对应的第一预测飞行路径；而后基于所述第一预测飞行路径以及所述第一飞行参数更新所述飞行器运行图，能够根据第一飞行参数准确进行飞行器运行图的实时更新，以便于根据更新后的飞行器运行图准确确定目标飞行器，进而准确实现低空飞行的飞行器的低空航空避障，进一步提高了低空避障的准确性。By obtaining an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule includes route information and flight time information of each aircraft; then based on the first flight parameters and the aircraft schedule, determining a first predicted flight path corresponding to each aircraft within a first preset time period; and then updating the aircraft operation diagram based on the first predicted flight path and the first flight parameters, the aircraft operation diagram can be accurately updated in real time according to the first flight parameters, so as to accurately determine the target aircraft according to the updated aircraft operation diagram, thereby accurately achieving low-altitude aviation obstacle avoidance for low-altitude flying aircraft, and further improving the accuracy of low-altitude obstacle avoidance.
基于第二实施例，提出本申请飞行器避障方法的第五实施例，包括第二实施例的全部内容，其中，步骤S201包括：Based on the second embodiment, a fifth embodiment of the aircraft obstacle avoidance method of the present application is proposed, which includes all the contents of the second embodiment, wherein step S201 includes:
步骤S501，基于所述第二飞行参数，确定第一预设时长内各个飞行物对应的第二预测飞行路径；Step S501, determining a second predicted flight path corresponding to each flying object within a first preset time period based on the second flight parameter;
步骤S502，基于所述第二预测飞行路径以及所述第二飞行参数更新所述飞行物运行图。Step S502: Update the flying object operation diagram based on the second predicted flight path and the second flight parameters.
在获取到第二飞行参数时，飞行管理单元基于第二飞行参数确定第一预设时长内各个飞行物对应的第二预测飞行路径，根据第二飞行参数中的第二位置信息、第二速度、第二加速度以及第二朝向，预测各个飞行物对应的第二预测飞行路径。When the second flight parameter is obtained, the flight management unit determines the second predicted flight path corresponding to each flying object within the first preset time period based on the second flight parameter, and predicts the second predicted flight path corresponding to each flying object according to the second position information, second speed, second acceleration and second direction in the second flight parameter.
接着，飞行管理单元基于所述第二预测飞行路径以及所述第二飞行参数更新所述飞行物运行图，即在飞行物运行图更新各个飞行器的第二位置信息、第二速度、第二加速度、第二朝向以及第二预测飞行路径。Next, the flight management unit updates the flying object operation diagram based on the second predicted flight path and the second flight parameters, that is, updates the second position information, second speed, second acceleration, second direction and second predicted flight path of each aircraft in the flying object operation diagram.
通过基于所述第二飞行参数，确定第一预设时长内各个飞行物对应的第二预测飞行路径；接着基于所述第二预测飞行路径以及所述第二飞行参数更新所述飞行物运行图，能够根据第二飞行参数准确进行飞行物运行图的实时更新，以便于根据更新后的飞行物运行图准确确定目标飞行器，进而准确实现低空飞行的飞行器的低空航空避障，进一步提高了低空避障的准确性。By determining the second predicted flight path corresponding to each flying object within the first preset time period based on the second flight parameter; and then updating the flying object operation diagram based on the second predicted flight path and the second flight parameter, the flying object operation diagram can be accurately updated in real time according to the second flight parameter, so as to accurately determine the target aircraft according to the updated flying object operation diagram, and then accurately achieve low-altitude aviation obstacle avoidance of low-altitude flying aircraft, thereby further improving the accuracy of low-altitude obstacle avoidance.
基于上述各个实施例，提出本申请飞行器避障方法的第六实施例，其中，步骤S104包括：Based on the above embodiments, a sixth embodiment of the aircraft obstacle avoidance method of the present application is proposed, wherein step S104 includes:
步骤S601，基于所述第一飞行参数确定所述目标飞行器的当前位置信息；Step S601, determining the current position information of the target aircraft based on the first flight parameter;
步骤S602，基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数。Step S602: Acquire the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter.
在确定各个飞行器中存在目标飞行器时，飞行管理单元基于第一飞行参数确定目标飞行器的当前位置信息，即从第一飞行参数中获取目标飞行器的当前位置信息。When it is determined that there is a target aircraft among the aircrafts, the flight management unit determines the current position information of the target aircraft based on the first flight parameter, that is, obtains the current position information of the target aircraft from the first flight parameter.
接着，基于当前位置信息、第一飞行参数以及第二飞行参数，获取所述飞行避障参数，具体地，在一实施方式中，该步骤S602包括：Next, based on the current position information, the first flight parameter and the second flight parameter, the flight obstacle avoidance parameter is obtained. Specifically, in one embodiment, step S602 includes:
步骤S6021，获取所述第一飞行参数中位于所述当前位置信息对应预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数；Step S6021, acquiring a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
步骤S6022，将所述第一目标飞行参数以及所述第二目标飞行参数作为所述飞行避障参数。Step S6022: Use the first target flight parameter and the second target flight parameter as the flight obstacle avoidance parameter.
在获取到目标飞行器的当前位置信息时，飞行管理单元确定该当前位置信息对应预设区域，该预设区域可以根据该目标飞行器当前的第一速度、第一朝向以及当前位置信息进行确定，例如，根据目标飞行器当前的第一速度确定预设区域的半径，基于第一朝向以及当前位置信息确定预设区域的圆心，其中，预设区域的圆心可以当前朝向之前的某一位置，为进而确定该预设区域。接着，获取第一飞行参数中位于预设区域内的第一目标飞行参数，该第一目标飞行参数不包括目标飞行器的飞行参数，即在第一飞行参数除目标飞行器的飞行参数之外的其他飞行参数中，获取预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数，而后将第一目标飞行参数以及第二目标飞行参数作为所述飞行避障参数，进而准确得到目标飞行器的飞行避障参数，进一步提高了低空避障的准确性。When the current position information of the target aircraft is obtained, the flight management unit determines that the current position information corresponds to a preset area, and the preset area can be determined according to the current first speed, first orientation and current position information of the target aircraft. For example, the radius of the preset area is determined according to the current first speed of the target aircraft, and the center of the preset area is determined based on the first orientation and the current position information, wherein the center of the preset area can be a certain position before the current orientation, so as to further determine the preset area. Next, the first target flight parameters in the first flight parameters that are located in the preset area are obtained, and the first target flight parameters do not include the flight parameters of the target aircraft, that is, the first target flight parameters in the preset area are obtained from the other flight parameters in the first flight parameters except the flight parameters of the target aircraft, and the second target flight parameters in the second flight parameters that are located in the preset area, and then the first target flight parameters and the second target flight parameters are used as the flight obstacle avoidance parameters, so as to accurately obtain the flight obstacle avoidance parameters of the target aircraft, and further improve the accuracy of low-altitude obstacle avoidance.
通过基于所述第一飞行参数确定所述目标飞行器的当前位置信息，接着基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数，可以准确获得目标飞行器的飞行避障参数，进一步提高了低空避障的准确性。By determining the current position information of the target aircraft based on the first flight parameter, and then obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter and the second flight parameter, the flight obstacle avoidance parameter of the target aircraft can be accurately obtained, further improving the accuracy of low-altitude obstacle avoidance.
本申请还提供一种飞行器避障方法，参照图3，图3为本申请飞行器避障方法第七实施例的流程示意图。The present application also provides an aircraft obstacle avoidance method, referring to FIG. 3 , which is a flow chart of a seventh embodiment of the aircraft obstacle avoidance method of the present application.
该飞行器避障方法应用于飞行器避障***中目标飞行器的控制模块，所述飞行器避障***包括飞行管理单元以及多个飞行器，进一步地，该飞行器避障***也可以包括地面侦测站，其中地面侦测站可以使用地面站雷达、频谱雷达等方式对区域内的飞行运动的飞行物进行监控，得到飞行物的位置、速度、朝向信息，飞行物可以为飞鸟、风筝、无人机等低空动态障碍物，飞行管理单元为飞行器的调度***，飞行器向飞行管理单元申请飞行路线，飞行管理单元批准飞行计划，在运行过程中，飞行管理单元会对所有飞行器状态进行持续监控和管理，其中，该飞行管理单元可设置于云端，即飞行管理单元为云端飞行管理单元。The aircraft obstacle avoidance method is applied to a control module of a target aircraft in an aircraft obstacle avoidance system, wherein the aircraft obstacle avoidance system includes a flight management unit and multiple aircraft. Further, the aircraft obstacle avoidance system may also include a ground detection station, wherein the ground detection station may use ground station radar, spectrum radar, etc. to monitor flying objects in flight in an area to obtain the position, speed, and direction information of the flying objects. The flying objects may be low-altitude dynamic obstacles such as birds, kites, and drones. The flight management unit is a scheduling system for the aircraft. The aircraft applies to the flight management unit for a flight route, and the flight management unit approves the flight plan. During operation, the flight management unit will continuously monitor and manage the status of all aircraft, wherein the flight management unit may be set in the cloud, that is, the flight management unit is a cloud-based flight management unit.
该飞行器避障方法包括：The aircraft obstacle avoidance method includes:
步骤S701，接收飞行管理单元发送的飞行避障参数，其中，所述飞行避障参数由所述飞行管理单元基于各个飞行器当前的第一飞行参数以及从地面侦测站获取到的多个飞飞行物当前的第二飞行参数确定所述目标飞行器存在碰撞风险时，基于所述第一飞行参数以及所述第二飞行参数获得；Step S701, receiving a flight obstacle avoidance parameter sent by a flight management unit, wherein the flight obstacle avoidance parameter is obtained based on the first flight parameter and the second flight parameter when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameter of each aircraft and the current second flight parameters of multiple flying objects obtained from a ground detection station;
步骤S702，通过所述目标飞行器的感知模块获取周围环境的障碍物信息；Step S702, obtaining obstacle information of the surrounding environment through the perception module of the target aircraft;
步骤S703，基于所述障碍物信息以及所述飞行避障参数进行飞行控制。Step S703: performing flight control based on the obstacle information and the flight obstacle avoidance parameters.
各个飞行器在飞行，本次需要飞行的航线进行请求，即发送包括航线信息的飞行请求至飞行管理单元，飞行管理单元记录该航线信息，并返回确认信息，至飞行器，而后飞行器基于航线信息进行飞行，其中，飞行管理单元还可以确定该航线信息是否安全，例如根据已存储的当前处于飞行状态的所有飞行器的航线信息以及该飞行请求对应的航线信息，确定该飞行请求对应的航线信息是否安全，在飞行请求对应的航线信息安全时，反馈确认信息。When each aircraft is in flight, it requests the route it needs to fly, that is, it sends a flight request including route information to the flight management unit. The flight management unit records the route information and returns confirmation information to the aircraft. The aircraft then flies based on the route information. The flight management unit can also determine whether the route information is safe, for example, based on the stored route information of all aircraft currently in flight and the route information corresponding to the flight request, determine whether the route information corresponding to the flight request is safe. When the route information corresponding to the flight request is safe, confirmation information is fed back.
目标飞行器的控制模块接收飞行管理单元发送的飞行避障参数，其中，所述飞行避障参数由所述飞行管理单元基于各个飞行器当前的第一飞行参数以及从地面侦测站获取到的多个飞行物当前的第二飞行参数确定所述目标飞行器存在碰撞风险时，基于所述第一飞行参数以及所述第二飞行参数获得，其中，确定目标飞行器存在碰撞风险的过程与上述实施例中确定各个飞行器是否存在碰撞风险的目标飞行器的过程类似，获得飞行避障参数的过程与上述实施例中获取所述目标飞行器对应的飞行避障参数的过程类似，在此不再赘述。The control module of the target aircraft receives the flight obstacle avoidance parameters sent by the flight management unit, wherein the flight obstacle avoidance parameters are obtained based on the first flight parameters and the second flight parameters when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameters of each aircraft and the current second flight parameters of multiple flying objects obtained from the ground detection station. The process of determining whether the target aircraft has a collision risk is similar to the process of determining whether each aircraft has a collision risk for the target aircraft in the above-mentioned embodiment, and the process of obtaining the flight obstacle avoidance parameters is similar to the process of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft in the above-mentioned embodiment, which will not be repeated here.
接着，控制模块通过所述目标飞行器的感知模块获取周围环境的障碍物信息，障碍物信息包括动态障碍物的信息以及静态障碍物的信息，具体通过飞行器的感知模块实时获取周围环境的障碍物信息，该感知模块可以包括摄像头、激光雷达、毫米波雷达等传感器的至少，障碍物信息包括障碍物的位置信息、高度信息以及大小信息等。Next, the control module obtains obstacle information of the surrounding environment through the perception module of the target aircraft. The obstacle information includes information of dynamic obstacles and information of static obstacles. Specifically, the obstacle information of the surrounding environment is obtained in real time through the perception module of the aircraft. The perception module may include at least one of sensors such as a camera, a lidar, and a millimeter-wave radar. The obstacle information includes location information, height information, and size information of the obstacle.
接着，控制模块基于所述障碍物信息以及所述飞行避障参数进行飞行控制，目标飞行器的控制模块目标飞行器的航线信息、障碍物信息以及飞行避障参数，确定是否存在位于所述航线信息对应航线的目标障碍物，若存在所述目标障碍物，则控制模块基于障碍物信息以及飞行避障参数，获取目标障碍物对应的目标障碍物信息，并基于飞管规划避障要求、航线信息以及所述目标障碍物信息，确定避障路径，然后执行该避障路径以对目标飞行器进行飞行控制，以使目标飞行器按照避障路径进行飞行。Next, the control module performs flight control based on the obstacle information and the flight obstacle avoidance parameters. The control module of the target aircraft determines whether there is a target obstacle located on the route corresponding to the route information based on the route information, obstacle information and flight obstacle avoidance parameters of the target aircraft. If the target obstacle exists, the control module obtains the target obstacle information corresponding to the target obstacle based on the obstacle information and the flight obstacle avoidance parameters, and determines an obstacle avoidance path based on the obstacle avoidance requirements of the flight control planning, the route information and the target obstacle information, and then executes the obstacle avoidance path to perform flight control on the target aircraft, so that the target aircraft flies according to the obstacle avoidance path.
通过接收飞行管理单元发送的飞行避障参数，其中，所述飞行避障参数由所述飞行管理单元基于各个飞行器当前的第一飞行参数以及从地面侦测站获取到的多个飞行物当前的第二飞行参数确定所述目标飞行器存在碰撞风险时，基于所述第一飞行参数以及所述第二飞行参数获得；接着通过所述目标飞行器的感知模块获取周围环境的障碍物信息；而后基于所述障碍物信息以及所述飞行避障参数进行飞行控制，能够通过飞行器的飞行参数、飞行器的飞行参数以及飞行器对应的障碍物信息对需要进行避障的飞行器进行避障，通过将飞行管理单元（云端）输出的飞行器规划结果（飞行避障参数）与飞行器感知的障碍物信息进行融合来进行飞行器的飞行控制，进而对低空飞行的飞行器进行准确的低空航空避障，提高了低空避障的准确性。By receiving the flight obstacle avoidance parameters sent by the flight management unit, wherein the flight obstacle avoidance parameters are obtained based on the first flight parameters and the second flight parameters when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameters of each aircraft and the current second flight parameters of multiple aircraft obtained from the ground detection station; then the obstacle information of the surrounding environment is obtained through the perception module of the target aircraft; and then the flight control is performed based on the obstacle information and the flight obstacle avoidance parameters. The aircraft that needs to avoid obstacles can be avoided through the flight parameters of the aircraft, the flight parameters of the aircraft and the obstacle information corresponding to the aircraft. The flight control of the aircraft is performed by fusing the aircraft planning results (flight obstacle avoidance parameters) output by the flight management unit (cloud) with the obstacle information perceived by the aircraft, thereby accurately performing low-altitude aviation obstacle avoidance on the aircraft flying at low altitude, thereby improving the accuracy of low-altitude obstacle avoidance.
基于第七实施例，提出本申请飞行器避障方法的第八实施例，包括第七实施例的全部内容，其中，步骤S703包括：Based on the seventh embodiment, an eighth embodiment of the aircraft obstacle avoidance method of the present application is proposed, which includes all the contents of the seventh embodiment, wherein step S703 includes:
步骤S801，基于所述障碍物信息以及所述飞行避障参数，确定所述目标飞行器当前是否存在避障风险；Step S801, determining whether the target aircraft currently has an obstacle avoidance risk based on the obstacle information and the flight obstacle avoidance parameters;
步骤S802，若存在避障风险，则确定避障路径，并执行所述避障路径。Step S802: If there is an obstacle avoidance risk, an obstacle avoidance path is determined and executed.
在获取到障碍物信息时，控制模块基于所述障碍物信息以及所述飞行避障参数，确定所述目标飞行器当前是否存在避障风险，具体地，步骤S801包括：基于所述目标飞行器的航线信息、所述障碍物信息以及所述飞行避障参数，确定是否存在位于所述航线信息对应航线的目标障碍物，其中，若存在所述目标障碍物，则确定存在避障风险。When the obstacle information is obtained, the control module determines whether the target aircraft currently has an obstacle avoidance risk based on the obstacle information and the flight obstacle avoidance parameters. Specifically, step S801 includes: based on the route information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, determining whether there is a target obstacle located on the route corresponding to the route information, wherein if the target obstacle exists, it is determined that there is an obstacle avoidance risk.
在获取到障碍物信息时，获取目标飞行器的航线信息，并根据航线信息、飞行避障参数以及障碍物信息，确定是否存在位于航线信息对应航线的目标障碍物，即航线信息对应航线上是否存在避障风险障碍物，存在避障风险障碍物，则确定存在避障风险，该避障风险障碍物可以为飞行避障参数对应的飞行器或者障碍物信息所对应的障碍物。When obstacle information is obtained, the route information of the target aircraft is obtained, and based on the route information, flight obstacle avoidance parameters and obstacle information, it is determined whether there is a target obstacle located on the route corresponding to the route information, that is, whether there is an obstacle avoidance risk obstacle on the route corresponding to the route information. If there is an obstacle avoidance risk obstacle, it is determined that there is an obstacle avoidance risk. The obstacle avoidance risk obstacle can be the aircraft corresponding to the flight obstacle avoidance parameters or the obstacle corresponding to the obstacle information.
而后，若存在避障风险，则控制确定避障路径，并执行所述避障路径，即控制目标飞行器按照避障路径进行飞行，以避开或者绕过该避障风险障碍物，进而实现目标飞行器的低空避障。Then, if there is an obstacle avoidance risk, the control determines the obstacle avoidance path and executes the obstacle avoidance path, that is, the target aircraft is controlled to fly according to the obstacle avoidance path to avoid or bypass the obstacle with the obstacle avoidance risk, thereby achieving low-altitude obstacle avoidance of the target aircraft.
具体地，一实施方式中，步骤S802包括：Specifically, in one implementation, step S802 includes:
步骤S8021，基于所述障碍物信息以及所述飞行避障参数，获取所述避障风险障碍物对应的目标障碍物信息；Step S8021, based on the obstacle information and the flight obstacle avoidance parameters, obtaining target obstacle information corresponding to the obstacle avoidance risk obstacle;
步骤S8021，基于飞管规划避障要求、所述航线信息以及所述目标障碍物信息，确定所述避障路径。Step S8021, determining the obstacle avoidance path based on the obstacle avoidance requirements of flight control planning, the route information and the target obstacle information.
在确定存在避障风险时，控制模块基于障碍物信息以及飞行避障参数获取避障风险障碍物对应的目标障碍物信息，若避障风险障碍物为飞行避障参数对应的飞行器，则目标障碍物信息可以为该飞行器朝向以及速度，若避障风险障碍物为障碍物信息所对应的障碍物，则目标障碍物信息可以为障碍物位置、障碍物高度、障碍物大小等信息；接着，基于飞管规划避障要求、航线信息以及所述目标障碍物信息，确定避障路径，具体地，根据目标障碍物信息结合目标飞行器的尺寸信息确定满足飞管规划避障要求的避障路径，进而准确得到避障路径。When it is determined that there is an obstacle avoidance risk, the control module obtains the target obstacle information corresponding to the obstacle avoidance risk obstacle based on the obstacle information and the flight obstacle avoidance parameters. If the obstacle avoidance risk obstacle is the aircraft corresponding to the flight obstacle avoidance parameters, the target obstacle information may be the direction and speed of the aircraft. If the obstacle avoidance risk obstacle is the obstacle corresponding to the obstacle information, the target obstacle information may be the obstacle position, obstacle height, obstacle size and other information. Then, based on the obstacle avoidance requirements of the flight control planning, the route information and the target obstacle information, an obstacle avoidance path is determined. Specifically, an obstacle avoidance path that meets the obstacle avoidance requirements of the flight control planning is determined according to the target obstacle information combined with the size information of the target aircraft, thereby accurately obtaining the obstacle avoidance path.
通过基于所述障碍物信息以及所述飞行避障参数，确定所述目标飞行器当前是否存在避障风险；接着若存在避障风险，则确定避障路径，并执行所述避障路径，能够根据飞管规划避障要求以及目标障碍物信息准确确定避障路径，进一步提高了低空避障的准确性。Based on the obstacle information and the flight obstacle avoidance parameters, it is determined whether the target aircraft currently has an obstacle avoidance risk; then if there is an obstacle avoidance risk, an obstacle avoidance path is determined and executed. The obstacle avoidance path can be accurately determined according to the obstacle avoidance requirements of the flight control planning and the target obstacle information, further improving the accuracy of low-altitude obstacle avoidance.
此外，本申请实施例还提出一种飞行器避障***，所述飞行器避障***包括飞行管理单元以及多个飞行器，其中：In addition, an embodiment of the present application further provides an aircraft obstacle avoidance system, the aircraft obstacle avoidance system comprising a flight management unit and a plurality of aircraft, wherein:
所述飞行管理单元，用于获取各个飞行器当前的第一飞行参数，并从地面侦测站获取多个飞行物当前的第二飞行参数；The flight management unit is used to obtain the current first flight parameters of each aircraft and obtain the current second flight parameters of multiple flying objects from the ground detection station;
所述飞行管理单元，还用于基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器是否存在碰撞风险的目标飞行器；The flight management unit is further used to determine whether each aircraft has a target aircraft with a collision risk based on the first flight parameter and the second flight parameter;
所述飞行管理单元，还用于若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器；The flight management unit is further configured to, if there is a target aircraft, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
所述目标飞行器，用于基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制。The target aircraft is used to perform flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the perception module of the target aircraft.
上述各程序单元所执行的方法可参照本申请飞行器避障方法各个实施例，此处不再赘述。The methods executed by the above-mentioned program units can refer to the various embodiments of the aircraft obstacle avoidance method of the present application, and will not be repeated here.
此外，本申请还提出一种计算机可读存储介质，所述可读存储介质上存储有计算机可读指令，所述计算机可读指令被处理器执行时实现如上所述的飞行器避障方法的步骤。In addition, the present application also proposes a computer-readable storage medium, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the steps of the aircraft obstacle avoidance method as described above are implemented.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者***不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者***所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者***中还存在另外的相同要素。It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.
以上仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims (22)

  1. 一种飞行器避障方法，其中，应用于飞行管理单元，包括以下步骤：An aircraft obstacle avoidance method, wherein the method is applied to a flight management unit, comprising the following steps:
    获取各个飞行器当前的第一飞行参数；Obtain the current first flight parameters of each aircraft;
    从地面侦测站获取多个飞行物当前的第二飞行参数；Acquire current second flight parameters of multiple flying objects from a ground detection station;
    基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器；以及，Based on the first flight parameter and the second flight parameter, determining whether there is a target aircraft with a collision risk among the aircraft; and
    若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器，其中，所述目标飞行器基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制。If there is a target aircraft, flight obstacle avoidance parameters corresponding to the target aircraft are obtained based on the first flight parameters and the second flight parameters, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and obstacle information currently obtained by the perception module of the target aircraft.
  2. 如权利要求1所述的飞行器避障方法，其中，基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器的步骤包括：The aircraft obstacle avoidance method according to claim 1, wherein the step of determining whether there is a target aircraft with a collision risk among the respective aircraft based on the first flight parameter and the second flight parameter comprises:
    基于所述第一飞行参数更新飞行器运行图，并基于所述第二飞行参数更新飞行物运行图；以及，updating an aircraft operations diagram based on the first flight parameters, and updating an aircraft operations diagram based on the second flight parameters; and,
    基于所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器。Based on the aircraft operation diagram and the flying object operation diagram, it is determined whether there is a target aircraft with a collision risk among the various aircraft.
  3. 如权利要求2所述的飞行器避障方法，其中，所述基于所述飞行器运行图以及所述飞行物运行图，确定各个飞行器中是否存在碰撞风险的目标飞行器的步骤包括：The aircraft obstacle avoidance method according to claim 2, wherein the step of determining whether there is a target aircraft with a collision risk among the various aircraft based on the aircraft operation diagram and the flying object operation diagram comprises:
    获取云地图，其中，所述云地图包括地面障碍物的高度信息以及位置信息；以及，Acquire a cloud map, wherein the cloud map includes height information and location information of ground obstacles; and,
    基于所述云地图、所述飞行器运行图以及所述飞行物运行图，确定各个飞行器是否存在碰撞风险的目标飞行器。Based on the cloud map, the aircraft operation diagram, and the flying object operation diagram, it is determined whether each aircraft has a target aircraft with a collision risk.
  4. 如权利要求2所述的飞行器避障方法，其中，所述基于所述第一飞行参数更新飞行器运行图的步骤包括：The aircraft obstacle avoidance method according to claim 2, wherein the step of updating the aircraft operation diagram based on the first flight parameter comprises:
    获取各个飞行器对应的飞行器计划表，其中，所述飞行器计划表包括各个飞行器的航线信息以及飞行时间信息；Acquire an aircraft schedule corresponding to each aircraft, wherein the aircraft schedule includes route information and flight time information of each aircraft;
    基于所述第一飞行参数以及所述飞行器计划表，确定第一预设时长内各个飞行器对应的第一预测飞行路径；以及，Determining a first predicted flight path corresponding to each aircraft within a first preset duration based on the first flight parameter and the aircraft plan table; and
    基于所述第一预测飞行路径以及所述第一飞行参数更新所述飞行器运行图。The aircraft operations diagram is updated based on the first predicted flight path and the first flight parameters.
  5. 如权利要求2所述的飞行器避障方法，其中，所述基于所述第二飞行参数更新飞行物运行图的步骤包括：The aircraft obstacle avoidance method according to claim 2, wherein the step of updating the aircraft operation diagram based on the second flight parameter comprises:
    基于所述第二飞行参数，确定第一预设时长内各个飞行物对应的第二预测飞行路径；以及，Based on the second flight parameter, determining a second predicted flight path corresponding to each flying object within a first preset duration; and
    基于所述第二预测飞行路径以及所述第二飞行参数更新所述飞行物运行图。The aircraft operation diagram is updated based on the second predicted flight path and the second flight parameters.
  6. 如权利要求1所述的飞行器避障方法，其中，所述基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 1, wherein the step of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameters and the second flight parameters comprises:
    基于所述第一飞行参数确定所述目标飞行器的当前位置信息；以及，Determining current position information of the target aircraft based on the first flight parameter; and,
    基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数。The flight obstacle avoidance parameter is acquired based on the current position information, the first flight parameter, and the second flight parameter.
  7. 如权利要求6所述的飞行器避障方法，其中，所述基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 6, wherein the step of obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter comprises:
    获取所述第一飞行参数中位于所述当前位置信息对应预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数；Acquire a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
    将所述第一目标飞行参数以及所述第二目标飞行参数作为所述飞行避障参数。The first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters.
  8. 如权利要求2所述的飞行器避障方法，其中，所述基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 2, wherein the step of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameters and the second flight parameters comprises:
    基于所述第一飞行参数确定所述目标飞行器的当前位置信息；以及，Determining current position information of the target aircraft based on the first flight parameter; and,
    基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数。The flight obstacle avoidance parameter is acquired based on the current position information, the first flight parameter, and the second flight parameter.
  9. 如权利要求8所述的飞行器避障方法，其中，所述基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 8, wherein the step of obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter comprises:
    获取所述第一飞行参数中位于所述当前位置信息对应预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数；Acquire a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
    将所述第一目标飞行参数以及所述第二目标飞行参数作为所述飞行避障参数。The first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters.
  10. 如权利要求3所述的飞行器避障方法，其中，所述基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 3, wherein the step of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameters and the second flight parameters comprises:
    基于所述第一飞行参数确定所述目标飞行器的当前位置信息；以及，Determining current position information of the target aircraft based on the first flight parameter; and,
    基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数。The flight obstacle avoidance parameter is acquired based on the current position information, the first flight parameter, and the second flight parameter.
  11. 如权利要求10所述的飞行器避障方法，其中，所述基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 10, wherein the step of obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter comprises:
    获取所述第一飞行参数中位于所述当前位置信息对应预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数；Acquire a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
    将所述第一目标飞行参数以及所述第二目标飞行参数作为所述飞行避障参数。The first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters.
  12. 如权利要求4所述的飞行器避障方法，其中，所述基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 4, wherein the step of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameters and the second flight parameters comprises:
    基于所述第一飞行参数确定所述目标飞行器的当前位置信息；以及，Determining current position information of the target aircraft based on the first flight parameter; and,
    基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数。The flight obstacle avoidance parameter is acquired based on the current position information, the first flight parameter, and the second flight parameter.
  13. 如权利要求12所述的飞行器避障方法，其中，所述基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 12, wherein the step of obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter comprises:
    获取所述第一飞行参数中位于所述当前位置信息对应预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数；Acquire a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
    将所述第一目标飞行参数以及所述第二目标飞行参数作为所述飞行避障参数。The first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters.
  14. 如权利要求5所述的飞行器避障方法，其中，所述基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 5, wherein the step of obtaining the flight obstacle avoidance parameters corresponding to the target aircraft based on the first flight parameters and the second flight parameters comprises:
    基于所述第一飞行参数确定所述目标飞行器的当前位置信息；以及，Determining current position information of the target aircraft based on the first flight parameter; and,
    基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数。The flight obstacle avoidance parameter is acquired based on the current position information, the first flight parameter, and the second flight parameter.
  15. 如权利要求14所述的飞行器避障方法，其中，所述基于所述当前位置信息、所述第一飞行参数以及所述第二飞行参数，获取所述飞行避障参数的步骤包括：The aircraft obstacle avoidance method according to claim 14, wherein the step of obtaining the flight obstacle avoidance parameter based on the current position information, the first flight parameter, and the second flight parameter comprises:
    获取所述第一飞行参数中位于所述当前位置信息对应预设区域内的第一目标飞行参数，以及所述第二飞行参数中位于所述预设区域内的第二目标飞行参数；Acquire a first target flight parameter located in a preset area corresponding to the current position information among the first flight parameters, and a second target flight parameter located in the preset area among the second flight parameters;
    将所述第一目标飞行参数以及所述第二目标飞行参数作为所述飞行避障参数。The first target flight parameter and the second target flight parameter are used as the flight obstacle avoidance parameters.
  16. 一种飞行器避障方法，其中，应用于目标飞行器的控制模块，包括以下步骤：An aircraft obstacle avoidance method, wherein a control module applied to a target aircraft comprises the following steps:
    接收飞行管理单元发送的飞行避障参数，其中，所述飞行避障参数由所述飞行管理单元基于各个飞行器当前的第一飞行参数以及从地面侦测站获取到的多个飞行物当前的第二飞行参数确定所述目标飞行器存在碰撞风险时，基于所述第一飞行参数以及所述第二飞行参数获得；receiving a flight obstacle avoidance parameter sent by a flight management unit, wherein the flight obstacle avoidance parameter is obtained based on the first flight parameter and the second flight parameter when the flight management unit determines that the target aircraft has a collision risk based on the current first flight parameter of each aircraft and the current second flight parameters of multiple flying objects obtained from a ground detection station;
    通过所述目标飞行器的感知模块获取周围环境的障碍物信息；Obtaining obstacle information of the surrounding environment through the perception module of the target aircraft;
    基于所述障碍物信息以及所述飞行避障参数进行飞行控制。Flight control is performed based on the obstacle information and the flight obstacle avoidance parameters.
  17. 如权利要求16所述的飞行器避障方法，其中，所述基于所述障碍物信息以及所述飞行避障参数进行飞行控制的步骤包括：The aircraft obstacle avoidance method according to claim 16, wherein the step of performing flight control based on the obstacle information and the flight obstacle avoidance parameters comprises:
    基于所述障碍物信息以及所述飞行避障参数，确定所述目标飞行器当前是否存在避障风险；Based on the obstacle information and the flight obstacle avoidance parameters, determining whether the target aircraft currently faces an obstacle avoidance risk;
    若存在避障风险，则确定避障路径，并执行所述避障路径。If there is an obstacle avoidance risk, an obstacle avoidance path is determined and executed.
  18. 如权利要求17所述的飞行器避障方法，其中，所述基于所述障碍物信息确定当前是否存在避障风险的步骤包括：The aircraft obstacle avoidance method according to claim 17, wherein the step of determining whether there is currently an obstacle avoidance risk based on the obstacle information comprises:
    基于所述目标飞行器的航线信息、所述障碍物信息以及所述飞行避障参数，确定是否存在位于所述航线信息对应航线的避障风险障碍物，其中，若存在所述避障风险障碍物，则确定存在避障风险。Based on the route information of the target aircraft, the obstacle information and the flight obstacle avoidance parameters, it is determined whether there is an obstacle avoidance risk obstacle located on the route corresponding to the route information, wherein if the obstacle avoidance risk obstacle exists, it is determined that there is an obstacle avoidance risk.
  19. 如权利要求18所述的飞行器避障方法，其中，所述确定避障路径的步骤包括：The aircraft obstacle avoidance method according to claim 18, wherein the step of determining the obstacle avoidance path comprises:
    基于所述障碍物信息以及所述飞行避障参数，获取所述避障风险障碍物对应的目标障碍物信息；Based on the obstacle information and the flight obstacle avoidance parameters, obtaining target obstacle information corresponding to the obstacle avoidance risk obstacle;
    基于飞管规划避障要求、所述航线信息以及所述目标障碍物信息，确定所述避障路径。The obstacle avoidance path is determined based on the obstacle avoidance requirements of flight control planning, the route information, and the target obstacle information.
  20. 如权利要求16任一项所述的飞行器避障方法，其中，所述感知模块包括摄像头、激光雷达以及毫米波雷达中的至少一种。The aircraft obstacle avoidance method according to any one of claim 16, wherein the perception module includes at least one of a camera, a laser radar, and a millimeter wave radar.
  21. 一种飞行器避障***，其中，所述飞行器避障***包括飞行管理单元以及多个飞行器，其中：An aircraft obstacle avoidance system, wherein the aircraft obstacle avoidance system comprises a flight management unit and a plurality of aircraft, wherein:
    所述飞行管理单元，用于获取各个飞行器当前的第一飞行参数，并从地面侦测站获取多个飞行物当前的第二飞行参数；The flight management unit is used to obtain the current first flight parameters of each aircraft and obtain the current second flight parameters of multiple flying objects from the ground detection station;
    所述飞行管理单元，还用于基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器；The flight management unit is further used to determine whether there is a target aircraft with a collision risk among the aircraft based on the first flight parameter and the second flight parameter;
    所述飞行管理单元，还用于若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器；The flight management unit is further configured to, if there is a target aircraft, obtain a flight obstacle avoidance parameter corresponding to the target aircraft based on the first flight parameter and the second flight parameter, and send the flight obstacle avoidance parameter to the target aircraft;
    所述目标飞行器，用于基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制。The target aircraft is used to perform flight control based on the flight obstacle avoidance parameters and the obstacle information currently acquired by the perception module of the target aircraft.
  22. 一种计算机可读存储介质，其中，所述计算机可读存储介质上存储有计算机可读指令，所述计算机可读指令被处理器执行时，实现如下步骤：A computer-readable storage medium, wherein the computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the following steps are implemented:
    获取各个飞行器当前的第一飞行参数；Obtain the current first flight parameters of each aircraft;
    从地面侦测站获取多个飞行物当前的第二飞行参数；Acquire current second flight parameters of multiple flying objects from a ground detection station;
    基于所述第一飞行参数以及所述第二飞行参数，确定各个飞行器中是否存在碰撞风险的目标飞行器；以及，Based on the first flight parameter and the second flight parameter, determining whether there is a target aircraft with a collision risk among the aircraft; and
    若存在目标飞行器，则基于所述第一飞行参数以及所述第二飞行参数，获取所述目标飞行器对应的飞行避障参数，并将所述飞行避障参数发送至所述目标飞行器，其中，所述目标飞行器基于所述飞行避障参数以及所述目标飞行器的感知模块当前获取到的障碍物信息进行飞行控制。If there is a target aircraft, flight obstacle avoidance parameters corresponding to the target aircraft are obtained based on the first flight parameters and the second flight parameters, and the flight obstacle avoidance parameters are sent to the target aircraft, wherein the target aircraft performs flight control based on the flight obstacle avoidance parameters and obstacle information currently obtained by the perception module of the target aircraft.
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