CN111338366A - Flight route determination method and flight auxiliary system - Google Patents
Flight route determination method and flight auxiliary system Download PDFInfo
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- CN111338366A CN111338366A CN202010119886.7A CN202010119886A CN111338366A CN 111338366 A CN111338366 A CN 111338366A CN 202010119886 A CN202010119886 A CN 202010119886A CN 111338366 A CN111338366 A CN 111338366A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a flight route determining method and a flight auxiliary system. The method and the device consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological state of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment can be improved by flying according to the flight route.
Description
Technical Field
The invention relates to the field of flight control, in particular to a flight route determining method and a flight auxiliary system.
Background
With the development of scientific technology and the increasing desire of human beings for three-dimensional travel, flying equipment such as a flying automobile or an aircraft is produced.
The flight equipment generally flies in the low-altitude space of the city, and the requirement on the flight safety is higher in the flying process, so that a method for improving the flight safety of the flight equipment is needed.
Disclosure of Invention
In view of the above, the present invention provides a method for determining a flight route and a flight assistance system, so as to solve the problem of urgently needing a method for improving the flight safety of flight equipment.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method of determining a flight path, comprising:
acquiring flight data of flight equipment and flow field state information of a target flight area;
determining a reference flight route of the flight equipment in the target flight area according to the flight data of the flight equipment and the flow field state information of the target flight area;
and outputting the reference flight route to the flight equipment.
Optionally, determining a reference flight route of the flying device in the target flight area according to the flight data of the flying device and the flow field state information of the target flight area includes:
acquiring the current state of the flight equipment and the parameter information of the flight equipment;
and determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area.
Optionally, determining a reference flight route corresponding to the current state according to the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area, includes:
if the current state of the flight equipment is the current flight state, determining local flow field state information of a front flight area according to flight data of the flight equipment and flow field state information of the target flight area;
judging whether the front flying area is suitable for the flying equipment to fly or not according to the parameter information of the flying equipment and the local flow field state information of the front flying area;
if not, adjusting the flight route in the flight data of the flight equipment according to the parameter information of the flight equipment, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area to obtain the reference flight route.
Optionally, adjusting a flight route in the flight data of the flight device according to the parameter information of the flight device, the flight data, the local flow field state information of the front flight area, and the flow field state information of the target flight area to obtain the reference flight route, including:
determining whether the flight equipment can adjust a flight route in flight data of the flight equipment in a preset flight adjustment mode according to the parameter information of the flight equipment and the local flow field state information of the front flight area so that the flight equipment can pass through the front flight area; the preset flight adjustment mode comprises at least one of the following modes: adjusting the flight angle and the flight height;
if so, adjusting a flight route in the flight data of the flight equipment according to the preset flight adjustment mode to obtain the reference flight route;
if not, determining the flight route again according to the parameter information of the flight equipment, the flight data and the flow field state information of the target flight area to obtain the reference flight route.
Optionally, determining a reference flight route corresponding to the current state according to the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area, includes:
if the current state of the flight equipment is not in a flight state, determining at least one alternative flight route of the flight equipment according to a flight starting place and a flight destination in flight data of the flight equipment;
determining a flight suitability degree value of each alternative flight route according to the parameter information of the flight equipment and the flow field state information of the target flight area;
and screening out the alternative flight route corresponding to the maximum flight suitability degree value, and determining the alternative flight route as a reference flight route.
A route determination device for performing the above-described flight route determination method.
A flight assistance system comprising the route determination device described above, the flight assistance system further comprising:
the meteorological monitoring equipment is used for acquiring meteorological data;
and the processor is used for determining the flow field state information of the target flight area according to the position information of the meteorological monitoring equipment, the meteorological data acquired by the meteorological monitoring equipment and the three-dimensional space data of the target flight area.
Optionally, the method further comprises:
and the regional meteorological processing equipment is used for outputting the three-dimensional space data of the target flight region to the processor, acquiring the flow field state information of the target flight region from the processor, and graphically displaying the flow field state information of the target flight region.
Optionally, a memory is also included;
the memory is used for storing the position information of the meteorological monitoring equipment, the meteorological data collected by the meteorological monitoring equipment, the three-dimensional space data of the target flight area and the flow field state information of the target flight area.
Optionally, the meteorological monitoring node comprises an air condition sensor; the air condition sensor is arranged at a designated position or on the mobile equipment.
Optionally, the processor is further configured to:
and updating the historical meteorological data of the position of the meteorological monitoring equipment according to the meteorological data acquired by the meteorological monitoring equipment.
Optionally, the target flight zone is a flight zone of at least one flight device.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a flight route determining method and a flight auxiliary system. The method and the device consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological state of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment can be improved by flying according to the flight route.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an aircraft provided in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a flight assistance system according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for determining a flight route according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for determining a flight path according to another embodiment of the present invention;
fig. 5 is a flowchart of a method for determining a flight route according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the development of science and technology, human cravings for spatial travel are increasingly strong. Free flight in the sky is always a dream of human beings, and the ideas and the technical schemes of a plurality of flying automobiles are generated.
In order to facilitate the travel of urban population, the flying automobile is more likely to be used in the low-altitude space of the future city. The traditional fixed wing aircraft and the rotor aircraft fly in the overhead unobstructed airspace of a city, and are difficult to fly in the low-altitude space (such as between buildings) of the city. Therefore, flying equipment (such as a flying automobile and a small aircraft) in the low-altitude space of the city can be transported as needed, but the whole atmospheric flow field of the low-altitude space of the city is complex and variable due to the influence of the layout of the city buildings and the appearance and distribution of green trees. Therefore, the cost investment of the flying automobile and the small aircraft in the sensing and flight control required by the change of the airspace flow field during the flying in the urban low-altitude space is more, and the commercial popularization difficulty of the flying automobile in the urban space is higher.
Nowadays, in order to build smart cities, in the aspect of commercial popularization and application of three-dimensional traffic, the aspects of flight control and airline approval of flight equipment are considered in the industry, and the technical concept and technical scheme for assisting flying automobiles or aircrafts to fly in cities by monitoring the flow field state of urban low-altitude airspace in real time are not involved.
Therefore, the application provides a flight auxiliary system, and a solution is provided for monitoring and responding of a low-airflow flow field in order to respond to the change of an airspace flow field of flight equipment in the urban low-altitude space and safely realize commercial popularization and application of the flight equipment as early as possible.
Specifically, the flight equipment of this application, like flying car or aircraft, is applicable to in the wisdom city, can fly in the low latitude space in city, lands on the roof of building or the small-size parking apron in the city for carry passenger's getting on or off the bus. In the flight process, if meet between the building during bad weather such as high building wind, strong wind, sleet, can reduce the security that flight equipment flies, and then if can monitor flight equipment flight in-process meteorological information to the flight of supplementary flight equipment according to this meteorological information, just can improve flight equipment flight's security. The flight device to which the flight assistance system of the present application is applied is preferably an unmanned flying automobile or aircraft.
If the flying device is a flying car, it may be the flying car shown in fig. 1, and it is a three-section structure, and includes three modules from top to bottom in sequence: the aircraft comprises a flight module, a cabin module and a chassis module, wherein the three modules can be sequentially connected into a whole from top to bottom. In the air flight state, the flying module and the cockpit module can be combined (called as a first combined body part for short), the flying module and the chassis module can be combined (called as a second combined body part for short, and the flying module is used as power), and the flying module can be the flying module. When the airplane runs on the ground, the airplane can also be used as a cabin module and chassis module combined body (a third combined body for short), a flight module and chassis module combined body (a fourth combined body for short, and the chassis module is used as power), and the airplane can also be used as the chassis module.
The embodiment of the invention provides a method for determining a flight route, an execution subject of the method is a flight assistance system, and referring to fig. 2, the flight assistance system may include: a weather monitoring device, a processor, and a route determination device. Real-time communication is possible between the weather monitoring device, the processor, and the route determination device.
In practical applications, the meteorological monitoring device (such as an air condition sensor) can be set at a designated position, that is, the air condition sensor is fixedly distributed at a plurality of fixed nodes in the airspace, such as lamp posts and railings on the road surface, the roof of a residential building (the roof is equivalent to an observation station, and the sensors are arranged on each side of the building body), a hill, a lakeside, a park landscape, a landmark building (especially with a large height), a public facility, and the like. In addition, the mobile node can be mounted on a mobile device or a mobile node in the air, such as an unmanned aerial vehicle for cruising, a city tramcar, a mobile vending hall and the like. The meteorological monitoring equipment can collect meteorological data in real time, such as parameters of wind speed, wind direction, rainfall, temperature, wind pressure, turbulence and the like in the airspace.
For the above-mentioned meteorological monitoring equipment that sets up in the assigned position, when setting up this meteorological monitoring equipment, just can acquire the positional information of this meteorological monitoring equipment, for the above-mentioned mobile equipment that sets up on the mobile equipment, can install Positioning software on this mobile equipment, like GPS (Global Positioning System), RTK ((Real-time kinematic, carrier phase difference technology), visual Positioning, etc. gather the positional information of meteorological monitoring equipment through Positioning software.
After the processor acquires the position information of the meteorological monitoring equipment and the meteorological data acquired by the meteorological monitoring equipment, the processor sets a timestamp for the meteorological data acquired by the meteorological monitoring equipment. For a meteorological monitoring equipment, the treater can analyze this meteorological monitoring equipment position, and whether the meteorological data that meteorological monitoring equipment gathered last time is the same with this meteorological data, if inequality, then corrects the meteorological data of gathering last time to make the flight equipment that is located this position next time obtain more accurate meteorological data.
The processor can acquire the position information of the meteorological monitoring device, the meteorological data acquired by the meteorological monitoring device and three-dimensional space data of a target flight area, wherein the target flight area can be a city where the flight device flies or a certain flying area and is determined according to a flight starting place and a flight destination where the flight device flies. The target flight zone is a flight zone of at least one flight device. Specifically, if the flight path of the flight device is relatively simple when the number of flight devices is small, the target flight area will be small, and if the flight path of the flight device is relatively complex when the number of flight devices is large, the target flight area will be large. The target flight area may be a particular city.
The three-dimensional space data may be provided by a regional weather processing device, the regional weather processing device is provided with three-dimensional space data of a target flight region where the flight device flies, and the three-dimensional space data may be three-dimensional space data of a certain city, such as outlines of buildings in the city, density of buildings, outlines of landmark objects, outlines of large-scale landscapes and amusement facilities, and geographic positions of the buildings (may be absolute coordinates such as longitude and latitude, or may be relative coordinates based on urban landmarks or signal reference points).
In addition, the regional meteorological processing equipment also has the function of displaying the flow field state information of the target flight region in an imaging mode. Specifically, the flow field analysis results, namely flow field state information, in each adjacent space are gathered, and the flow field state information is connected into a city three-dimensional space meteorological data network and displayed.
The processor can determine the flow field state information of the target flight area in real time by adopting a flow field analysis mode according to the position information of the meteorological monitoring equipment, the meteorological data acquired by the meteorological monitoring equipment and the three-dimensional space data of the target flight area. In the process of flow field analysis, the air state parameters in the meteorological data are processed in a priority mode. If the intuitive information such as the wind direction, the wind speed and the like is analyzed firstly, and then the data such as the air pressure, the turbulence, the airflow stability and the like which need to be processed and calculated are processed, the meteorological monitoring equipment needs to preferentially transmit the intuitive information such as the wind direction, the wind speed and the like, and can delay the transmission of the data such as the air pressure, the turbulence, the airflow stability and the like.
After the processor analyzes and obtains the flow field state information of the target flight area, the flow field state information of the target flight area can be sent to the regional weather processing equipment, so that the regional weather processing equipment displays the flow field state information of the target flight area in an imaging mode.
In another implementation of the present invention, the flight assistance system may further include a memory, such as a cloud storage, for real-time backup of data, such as the memory for storing the position information of the meteorological monitoring device, the meteorological data collected by the meteorological monitoring device, the three-dimensional spatial data of the target flight area, and the flow field status information of the target flight area.
The processor analyzes and obtains flow field state information of a target flight area, and can send the flow field state information of the target flight area to the route determining device, and the route determining device can determine a reference flight route suitable for the flight device by combining the flow field state information of the target flight area and flight data of the flight device, and sends the reference flight route to the flight device, so that the flight device can determine whether to fly by adopting the reference flight route. Specifically, referring to fig. 1, the method for determining the flight route applied to the route determination device may include:
and S11, acquiring flight data of the flight equipment and flow field state information of the target flight area.
The flight data in this embodiment is related to the current state of the flight device, and if the flight device is not in the flight state, that is, the flight device is not flying, the flight data may include a flight starting place and a flight destination, for example, the flight starting place may be address a, and the flight destination may be address B.
If the flight device is currently in a flight state, that is, the flight device is flying at this time, the flight data may include a current flight position, a flight route, and a flight destination.
The flow field state information of the target flight area can be obtained by analyzing the flow field state information by the processor. The route determination device obtains the flow field state information of the target flight area from the processor, or the processor directly sends the flow field state information of the target flight area to the route determination device.
And S12, determining a reference flight path of the flying device in the target flight area according to the flight data of the flying device and the flow field state information of the target flight area.
In this embodiment, the determined reference flight path takes into account meteorological data of a target flight area of the flight device, and the reference flight path is more suitable for flight of the flight device.
In practical applications, the determination of the reference flight path is related to the current state of the flight device and the parameter information of the flight device, and specifically, the step S12 may include:
1) and acquiring the current state of the flight equipment and the parameter information of the flight equipment.
The current state has been described above, including being currently in flight and not in flight, and please refer to the corresponding description above.
The parameter information of the flight device may include:
the model, flight power, maximum oil mass of flight, etc. of the flight equipment, the parameter information of the flight equipment is used for judging whether the flight equipment can fly in the meteorological state, such as whether the flight power can resist strong wind or disturbance, whether the energy is enough to support the endurance mileage in the strong wind, etc.
2) And determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area.
In this embodiment, when the reference flight route is determined, the determined reference flight route is more suitable for the flight of the flight device due to more reference data according to the parameter information of the flight device, the flight data of the flight device and the flow field state information of the target flight area.
And S13, outputting the reference flight path to the flight equipment.
And sending the reference flight route to the flight equipment, wherein the flight equipment can fly according to the reference flight route or not, and the flight equipment autonomously determines the flight route.
In this embodiment, if a flying device wants to fly in a target flying area, a reference flying route of the flying device is determined according to the flying data of the flying device and the flow field state information of the target flying area, and the reference flying route is output to the flying device. The method and the device consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological state of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment can be improved by flying according to the flight route.
In addition, the embodiment of the invention can monitor the low air image in real time and analyze the flow field in real time, so that the aerocar or the aircraft can obtain reliable data when approaching low space, and an effective solution is provided for building a smart city and building three-dimensional traffic.
In the prior art, a flying automobile or an aircraft has no meteorological prediction, needs to sense airflow by self, needs a certain time for sensing and processing information, and needs a driver or an operator to feed back according to the information, so that information lag and response delay are caused, which is equivalent to blind flight. The embodiment of the invention realizes meteorological prediction, reserves the prediction time of a driver or an operator, and improves the flight safety and controllability.
In the above, it is mentioned that "the reference flight route corresponding to the current state is determined according to the parameter information of the flight device, the flight data of the flight device, and the flow field state information of the target flight area", where the determination process of the reference flight route corresponding to different current states is different, and a detailed description is now provided for the specific implementation process.
1. If the current state of the flying device is the current flying state, referring to fig. 4, "determining a reference flying route corresponding to the current state according to the parameter information of the flying device, the flying data of the flying device, and the flow field state information of the target flying area" may include:
and S21, determining local flow field state information of the front flight area according to the flight data of the flight equipment and the flow field state information of the target flight area.
According to the above, when the current state is the current flying state, the flying data may include the current flying position, the flying route and the flying destination. According to the flight route, the front flight area where the flight equipment flies can be known, and then the local flow field state information of the front flight area is determined from the target flight area. Such as whether the local flow field state information has airflow disturbance or local strong wind.
S22, judging whether the front flying area is suitable for the flying equipment to fly or not; if not, go to step S23; if so, step S24 is executed.
Specifically, whether the front flying area is suitable for the flying equipment to fly or not is judged according to the parameter information of the flying equipment and the local flow field state information of the front flying area.
According to the above, the parameter information of the flight device may include: the model, flight power, maximum oil mass of flight, etc. of the flight equipment, the parameter information of the flight equipment is used for judging whether the flight equipment can fly in the meteorological state, such as whether the flight power can resist strong wind or disturbance, whether the energy is enough to support the endurance mileage in the strong wind, etc.
Furthermore, whether the flying equipment can normally pass through the front flying area can be determined according to the parameter information of the flying equipment, namely whether the front flying area is suitable for the flying equipment to fly is judged.
If the flight device can normally pass through the front flight area, the front flight area is suitable for the flight device to fly, and if the flight device cannot normally pass through the front flight area, the front flight area is not suitable for the flight device to fly.
S23, adjusting the flight route in the flight data of the flight equipment according to the parameter information of the flight equipment, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area to obtain the reference flight route.
When the front flight area is not suitable for the flight of the flight equipment, in order to avoid damage to the flight equipment caused by the flight of the flight equipment in the front flight area, the flight route of the flight equipment can be adjusted at the moment to obtain a reference flight route, and parameters required to be based in the process of adjusting the flight route are parameter information of the flight equipment, the flight data, local flow field state information of the front flight area and flow field state information of the target flight area.
In practical applications, the specific implementation process of step S23 may include:
1) determining whether the flight equipment can adjust a flight route in flight data of the flight equipment in a preset flight adjustment mode according to the parameter information of the flight equipment and the local flow field state information of the front flight area so that the flight equipment can pass through the front flight area; the preset flight adjustment mode comprises at least one of the following modes: adjusting the flight angle and adjusting the flight height.
The flight route in the flight data is generally an optimal route determined by the flight device according to the flight starting place and the flight destination, and the route is generally not adjusted as much as possible when the flight device can fly according to the route, so in this embodiment, it is preferentially determined whether the flight device can fly through the front flight area by adjusting the flight angle and/or the flight height, and specifically, according to the parameter information of the flight device, it is determined whether the flight device can pass through the front flight area with the local flow field state information by adjusting the flight angle and/or the flight height.
2) If so, adjusting a flight route in the flight data of the flight equipment according to the preset flight adjustment mode to obtain the reference flight route;
if the front flying area with the local flow field state information can be passed through by adjusting the flying angle and/or the flying height, the flying angle and/or the flying height can be adjusted, for example, when the aircraft or the flying car passes through the stairs, if the front wind speed is high, the airspace can be avoided first. If the wind speed is not large, the aircraft or the flying automobile can advance along the wind direction as much as possible, and the cross wind effect is avoided. If turbulence occurs at a certain height in front, the flying height of the aircraft or the flying automobile can be raised or lowered, and turbulence impact is avoided.
3) If not, determining the flight route again according to the parameter information of the flight equipment, the flight data and the flow field state information of the target flight area to obtain the reference flight route.
If the flight device can not safely pass through the front flight area by adjusting the flight angle and the flight height, a new flight route needs to be planned for the flight device again.
The flight device is currently in a flight state, the flight data comprises a current flight position, a flight route and a flight destination, and at least one flight route can be determined according to the current flight position and the flight destination.
And then determining the flight suitability degree value of each flight route according to the flow field state information of the target flight area. The more unstable the weather of the area through which the flight path passes, the lower the flight suitability degree value if rain or snow exists, and the more suitable the flight if the weather is stable, the higher the flight suitability degree value if clear days exist.
For example, if a flight route needs to pass through rainy and snowy weather, the flight suitability value is low, and if a flight route needs to pass through breezy weather, the flight suitability value is high.
After the flight suitability degree value of each flight route is determined, the flight route corresponding to the maximum flight suitability degree value is selected and determined as a reference flight route, namely the determined reference flight route is most suitable for the flight equipment to fly to the flight destination from the current flight position.
2. If the current state of the flying device is not in the flying state, referring to fig. 5, determining a reference flying route corresponding to the current state according to the parameter information of the flying device, the flying data of the flying device, and the flow field state information of the target flying area may include:
1) if the current state of the flight equipment is not in a flight state, determining at least one alternative flight route of the flight equipment according to a flight starting place and a flight destination in flight data of the flight equipment;
2) determining a flight suitability degree value of each alternative flight route according to the parameter information of the flight equipment and the flow field state information of the target flight area;
3) and screening out the alternative flight route corresponding to the maximum flight suitability degree value, and determining the alternative flight route as a reference flight route.
It should be noted that, for the specific implementation process of each step in this embodiment, please refer to the corresponding description in the previous embodiment, which is not described herein again.
The flight equipment selects a first combining part under the condition that the air image in the airspace is suitable for flight according to the requirement of a carrier; the third combining body part is selected under the condition that the air image in the airspace is not suitable for flying. Under the condition of no need of carrying people, the second integrated body part and the fourth integrated body part can be respectively scheduled to fly in the air or run on the ground according to the energy reserve and the maintenance request of the chassis module and the flight module.
In addition, if the flight equipment is close to a target place, such as a building, according to a preset flight route, according to the meteorological data acquired by each meteorological monitoring equipment at each time point acquired in advance, whether adverse weather exists in the flight or not is checked, and if crosswind or turbulence exists, the preset flight track can be changed, or the flight speed is changed, the adverse time point is avoided, or the flight attitude is changed so as to facilitate flight passing.
If the flying equipment is a flying automobile, when the flying automobile reaches a flying destination, the flying equipment needs to land, and when the split flying automobile needs to land and butt, the flying module and the cabin module are in butt joint, the flying module and the chassis module are in butt joint, the first joint part and the chassis module are in butt joint, and the landing and butt joint conditions and the butt joint posture adjustment are judged by sensing the flow field state in the airspace where the split flying automobile is located in real time. For example, when the first combining body is butted with the chassis module, if the front airspace is not suitable for descending, the chassis module can be controlled to travel to other adjacent airspaces suitable for descending to implement the butting.
In this embodiment, for the flying automobile or the flying vehicle which is already in the flying state, the flow field state information in the front near airspace can be provided in real time according to the current flying route and the flying destination. The flying automobile or the flying vehicle can know the flow field state of the local space where the flying automobile or the flying vehicle is located in real time, and can predict the airspace flow field state in front of the path, so that a better control strategy is selected to deal with the path change and possible danger caused by the sudden change of the flow field, and the whole flying process is smoother and safer.
Alternatively, on the basis of the above embodiment of the flight route determination method, another embodiment of the present invention provides a route determination device for performing the above flight route determination method.
Optionally, on the basis of the above embodiment of the method for determining a flight route, another embodiment of the present invention provides a flight assistance system, and referring to fig. 2, the flight assistance system may include:
the meteorological monitoring equipment is used for acquiring meteorological data;
the processor is used for determining the flow field state information of the target flight area according to the position information of the meteorological monitoring equipment, the meteorological data acquired by the meteorological monitoring equipment and the three-dimensional space data of the target flight area;
and the route determining device is used for executing the flight route determining method.
Further, still include:
and the regional meteorological processing equipment is used for outputting the three-dimensional space data of the target flight region to the processor, acquiring the flow field state information of the target flight region from the processor, and graphically displaying the flow field state information of the target flight region.
Further, the device also comprises a memory;
the memory is used for storing the position information of the meteorological monitoring equipment, the meteorological data collected by the meteorological monitoring equipment, the three-dimensional space data of the target flight area and the flow field state information of the target flight area.
Further, the meteorological monitoring node comprises an air condition sensor; the air condition sensor is arranged at a designated position or on the mobile equipment.
Further, the processor is further configured to:
and updating the historical meteorological data of the position of the meteorological monitoring equipment according to the meteorological data acquired by the meteorological monitoring equipment.
Further, the target flight zone is a flight zone of at least one flight device.
It should be noted that, in this embodiment, the weather monitoring device and the processor may be in two-way communication, the processor and the route determining device may be in two-way communication, and in addition, the processor and the route determining device may also be in indirect communication through the regional weather processing device, that is, the processor transmits the flow field state information of the target flight region to the route determining device through the regional weather processing device. In this case, the processor and the regional weather processing device, the regional weather processing device and the route determining device, and the route determining device and the flight device can directly communicate in both directions. When the route determination device communicates with the flight device, the communication data need to be encrypted so as to improve the safety of data transmission.
In this embodiment, if a flying device wants to fly in a target flying area, a reference flying route of the flying device is determined according to the flying data of the flying device and the flow field state information of the target flying area, and the reference flying route is output to the flying device. The method and the device consider the meteorological conditions of the flight area of the flight equipment when determining the reference flight route, so that the determined flight route is more suitable for the meteorological state of the flight area of the flight equipment, the influence of the meteorological conditions of the flight area on the flight equipment is reduced, and the flight safety of the flight equipment can be improved by flying according to the flight route.
It should be noted that, for the working process of each device in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A method of determining a flight path, comprising:
acquiring flight data of flight equipment and flow field state information of a target flight area;
determining a reference flight route of the flight equipment in the target flight area according to the flight data of the flight equipment and the flow field state information of the target flight area;
and outputting the reference flight route to the flight equipment.
2. The determination method according to claim 1, wherein determining the reference flight route of the flying device in the target flight area according to the flight data of the flying device and the flow field state information of the target flight area comprises:
acquiring the current state of the flight equipment and the parameter information of the flight equipment;
and determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area.
3. The determination method according to claim 2, wherein determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area comprises:
if the current state of the flight equipment is the current flight state, determining local flow field state information of a front flight area according to flight data of the flight equipment and flow field state information of the target flight area;
judging whether the front flying area is suitable for the flying equipment to fly or not according to the parameter information of the flying equipment and the local flow field state information of the front flying area;
if not, adjusting the flight route in the flight data of the flight equipment according to the parameter information of the flight equipment, the flight data, the local flow field state information of the front flight area and the flow field state information of the target flight area to obtain the reference flight route.
4. The determination method according to claim 3, wherein adjusting the flight route in the flight data of the flight device according to the parameter information of the flight device, the flight data, the local flow field state information of the front flight area, and the flow field state information of the target flight area to obtain the reference flight route comprises:
determining whether the flight equipment can adjust a flight route in flight data of the flight equipment in a preset flight adjustment mode according to the parameter information of the flight equipment and the local flow field state information of the front flight area so that the flight equipment can pass through the front flight area; the preset flight adjustment mode comprises at least one of the following modes: adjusting the flight angle and the flight height;
if so, adjusting a flight route in the flight data of the flight equipment according to the preset flight adjustment mode to obtain the reference flight route;
if not, determining the flight route again according to the parameter information of the flight equipment, the flight data and the flow field state information of the target flight area to obtain the reference flight route.
5. The determination method according to claim 2, wherein determining a reference flight route corresponding to the current state according to the parameter information of the flight equipment, the flight data of the flight equipment and the flow field state information of the target flight area comprises:
if the current state of the flight equipment is not in a flight state, determining at least one alternative flight route of the flight equipment according to a flight starting place and a flight destination in flight data of the flight equipment;
determining a flight suitability degree value of each alternative flight route according to the parameter information of the flight equipment and the flow field state information of the target flight area;
and screening out the alternative flight route corresponding to the maximum flight suitability degree value, and determining the alternative flight route as a reference flight route.
6. Route determination device, characterized by being adapted to perform the method of determining a flight route according to any of claims 1-5.
7. A flight assistance system comprising the route determination device of claim 6, the flight assistance system further comprising:
the meteorological monitoring equipment is used for acquiring meteorological data;
and the processor is used for determining the flow field state information of the target flight area according to the position information of the meteorological monitoring equipment, the meteorological data acquired by the meteorological monitoring equipment and the three-dimensional space data of the target flight area.
8. The flight assistance system of claim 7, further comprising:
and the regional meteorological processing equipment is used for outputting the three-dimensional space data of the target flight region to the processor, acquiring the flow field state information of the target flight region from the processor, and graphically displaying the flow field state information of the target flight region.
9. The flight assistance system of claim 7, further comprising a memory;
the memory is used for storing the position information of the meteorological monitoring equipment, the meteorological data collected by the meteorological monitoring equipment, the three-dimensional space data of the target flight area and the flow field state information of the target flight area.
10. The flight assistance system of claim 7, wherein the meteorological monitoring node comprises an air condition sensor; the air condition sensor is arranged at a designated position or on the mobile equipment.
11. The flight assistance system of claim 7, wherein the processor is further configured to:
and updating the historical meteorological data of the position of the meteorological monitoring equipment according to the meteorological data acquired by the meteorological monitoring equipment.
12. The flight assistance system of claim 7, wherein the target flight zone is a flight zone of at least one flight device.
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| CN202010119886.7A CN111338366A (en) | 2020-02-26 | 2020-02-26 | Flight route determination method and flight auxiliary system |
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