CN113920784B

CN113920784B - Communication method, device and storage medium

Info

Publication number: CN113920784B
Application number: CN202111063017.8A
Authority: CN
Inventors: 李刚; 陈斌; 盖刚
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2023-01-13
Anticipated expiration: 2041-09-10
Also published as: CN113920784A

Abstract

The application relates to a communication method, a device and a storage medium, wherein the method is applied to a target aircraft flying in an aviation area, wherein the aviation area comprises the following steps: at least one of an overrun channel, a travel channel, and a transition channel; the flying speeds corresponding to the overtaking channel, the driving channel and the transition channel are reduced in sequence; the method comprises the following steps: sending flight information to a control platform; the control platform is used for managing at least one aircraft flying in the empty area, and the at least one aircraft comprises a target aircraft; the flight information is used for determining capacity information corresponding to at least one of an overtaking channel, a driving channel and a transition channel; and responding to the instruction sent by the control platform, and executing corresponding flight action. In the application, the target aircraft can be a vertical take-off and landing unmanned aircraft, so that the air traffic control of the vertical take-off and landing unmanned aircraft is realized, and the vertical take-off and landing unmanned aircraft can fly more orderly and efficiently.

Description

Communication method, device and storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a communication method, apparatus, and storage medium.

Background

Due to the flexibility And stability of the unmanned aerial vehicle (also called unmanned aerial vehicle), the unmanned aerial vehicle has wide application in civil fields including agricultural plant protection, power inspection, police law enforcement, geological exploration, environmental monitoring, forest fire prevention, film And television aerial photography And the like, and the application field is rapidly expanding, for example, a large Vertical Take-off And Landing (VTOL) unmanned aerial vehicle can be applied to various scenes such as urban end logistics package distribution, emergency transportation of food And medical supplies, manned And the like.

However, unlike civil aircraft (e.g., fixed wing aircraft, helicopters, etc.), air traffic control approaches for fixed wing aircraft and helicopters have no longer been applicable to unmanned vertical take-off and landing aircraft, and currently lack air traffic control schemes for unmanned vertical take-off and landing aircraft.

Disclosure of Invention

In view of the above, a communication method, apparatus and storage medium are provided.

In a first aspect, embodiments of the present application provide a communication method applied to a target aircraft flying in an aviation zone, wherein the aviation zone includes: at least one of an overrun channel, a travel channel, and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the overrunning channel is used for the target aircraft to overrun other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the target aircraft to transition between a normal flight state and at least one of a take-off state, a hovering state and a descending state; the method comprises the following steps: sending flight information to a control platform; the regulatory platform is for managing at least one aircraft flying within the airspace region, the at least one aircraft including the target aircraft; the flight information is used for determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel; and responding to the instruction sent by the control platform, and executing corresponding flight action.

In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, and the airspace zone may be a low-altitude (e.g., below 1000 m) zone; based on above-mentioned technical scheme, the aviation region can include: at least one of an overrun channel, a travel channel, and a transition channel; the target aircraft sends flight information to the control platform so that the control platform determines capacity information corresponding to at least one of an overrun channel, a driving channel and a transition channel, and the target aircraft responds to an instruction sent by the control platform to execute corresponding flight action under the condition that the capacity information meets a preset condition; thus, air traffic control aiming at the vertical take-off and landing unmanned aircraft is realized. In some examples, the flight actions may include take-off, diversion, landing, and the like; therefore, the vertical take-off and landing unmanned aerial vehicle can execute flight actions such as automatic take-off, automatic re-aviation or automatic landing, and the like, thereby realizing the ordered and efficient flight of the vertical take-off and landing unmanned aerial vehicle.

According to a first aspect, in a first possible implementation manner of the first aspect, the flight information includes: first flight status information, the flight status information comprising: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the corresponding flight action is executed in response to the instruction sent by the control platform, and the corresponding flight action comprises the following steps: receiving a channel change instruction sent by the control platform and information of a target driving channel; wherein the information of the target driving channel comprises: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel; and responding to the channel change instruction, and switching channels according to the information of the target driving channel.

Based on the technical scheme, the cruise control for the target aircraft is realized. In some examples, the target aircraft may be a take-off and landing unmanned aircraft, enabling automatic channel modification of the take-off and landing unmanned aircraft.

According to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the flight information includes: channel override request information and second flight state information; the corresponding flight action is executed in response to the instruction sent by the control platform, and the corresponding flight action comprises the following steps: receiving a channel change instruction sent by the control platform and information of a target exceeding a channel; and responding to the channel change instruction, and switching channels according to the information of the target exceeding the channel.

Based on the technical scheme, the cruise control for the target aircraft is realized. In some examples, the target aircraft may be a take-off and landing unmanned aircraft, enabling automatic lane override of the take-off and landing unmanned aircraft.

According to the first aspect or various possible implementations of the first aspect, in a third possible implementation of the first aspect, the flight information includes: landing preparation request information and third flight state information; the transition channel comprises a first transition channel; the sending of the flight information to the regulatory platform comprises: when the target aircraft reaches a landing preparation point, sending the landing preparation request information and the third flight state information to the control platform; the corresponding flight action is executed in response to the instruction sent by the control platform, and the corresponding flight action comprises the following steps: receiving a channel change instruction sent by the control platform and information of a target first transition channel; and responding to the channel change instruction, and switching channels according to the information of the target first transition channel.

Based on the technical scheme, the landing preparation control for the target aircraft is realized. In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, thereby enabling automatic landing preparation of the vertical take-off and landing unmanned aircraft.

According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the flight information includes: landing request information and fourth flight state information; the transition channel comprises a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the sending of the flight information to the regulatory platform comprises: sending the landing request information and the fourth flight state information to the control platform under the condition that the target aircraft is switched to the first transition channel; the corresponding flight action is executed in response to the instruction sent by the control platform, and the corresponding flight action comprises the following steps: receiving a landing allowing instruction, target landing channel information, target landing point information and target second transition channel information sent by the control platform; responding to the command allowing landing, flying to the target landing point through the target second transition channel, and executing a landing action according to the information of the target landing channel.

Based on the technical scheme, the landing control for the target aircraft is realized. In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, thereby enabling automatic landing of the vertical take-off and landing unmanned aircraft.

In a fifth possible implementation form of the first aspect, according to the first aspect as such or any possible implementation form of the first aspect, the transition corridor comprises a third transition corridor; the aviation area also comprises at least one takeoff channel and at least one takeoff point, wherein the takeoff point is the intersection point of the takeoff channel and the transition channel; the flight information includes: taking-off request information and a target taking-off channel identifier where the target aircraft is located; the sending of the flight information to the regulatory platform comprises: sending takeoff request information and the target takeoff channel identification to the control platform under the condition that the target aircraft is located in a target takeoff channel; the corresponding flight action is executed in response to the instruction sent by the control platform, and the corresponding flight action comprises the following steps: receiving a takeoff permission instruction, information of the target takeoff channel, information of a target takeoff point and information of a target third transition channel sent by the control platform; and responding to the takeoff allowing instruction, executing takeoff action according to the information of the target takeoff channel, and entering the third transition channel through the target flying starting point.

Based on the technical scheme, the takeoff control aiming at the target aircraft is realized. In some examples, the target aircraft may be a take-off and landing unmanned aircraft, thereby enabling automated takeoff of the take-off and landing unmanned aircraft.

In a second aspect, embodiments of the present application provide a communication method applied to a regulatory platform for managing at least one aircraft flying within an airspace, the at least one aircraft including a target aircraft; wherein the aviation zone comprises: at least one of an overrun channel, a travel channel, and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the target aircraft to transition between a normal flight state and at least one of a take-off state, a hovering state and a descending state; the method comprises the following steps: receiving flight information sent by the target aircraft; determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information; and sending an instruction to the target aircraft when the capacity information meets a preset condition.

In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, and the airspace may be a low-altitude (e.g., below 1000 m) area; based on above-mentioned technical scheme, the aviation region can include: at least one of an overrun channel, a travel channel, and a transition channel; the control platform receives flight information sent by a target aircraft, determines capacity information corresponding to at least one of an overrun channel, a driving channel and a transition channel, and sends an instruction to the target aircraft so that the target aircraft can execute corresponding flight actions under the condition that the capacity information meets preset conditions; in this way, the control platform provides air traffic control service for the target aircraft, so that air traffic control for the unmanned vertical takeoff and landing aircraft is realized. In some examples, the flight actions may include take-off, diversion, landing, and the like; therefore, the control platform can send instructions for executing flight actions such as automatic takeoff, automatic diversion or automatic landing to the vertical take-off and landing unmanned aerial vehicle, the vertical take-off and landing unmanned aerial vehicle can respond to the instructions and execute flight actions such as automatic takeoff, automatic diversion or automatic landing, and therefore ordered and efficient flight of the vertical take-off and landing unmanned aerial vehicle is achieved.

According to a second aspect, in a first possible implementation manner of the second aspect, the flight information includes: first flight status information, the flight status information comprising: at least one of a channel identification of a channel in which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information comprises: determining capacity information corresponding to the driving channel according to the first flight state information; the sending of the instruction to the target aircraft when the capacity information meets a preset condition includes: under the condition that the capacity information corresponding to the running channel meets a first preset condition, sending a channel changing instruction and information of a target running channel to the target aircraft; wherein the target travel channel information includes: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel.

According to the second aspect or the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the flight information includes: channel override request information and second flight state information; the determining, according to the flight information, capacity information corresponding to at least one of the passing channel, the driving channel and the transition channel includes: determining capacity information corresponding to the overtaking channel according to the channel overtaking request information and the second flight state information; the sending of the instruction to the target aircraft when the capacity information meets a preset condition includes: and under the condition that the capacity information corresponding to the transcendental navigation channel meets a second preset condition, sending a navigation channel changing instruction and information of the target transcendental navigation channel to the target aircraft.

According to the second aspect or various possible implementations of the second aspect above, in a third possible implementation of the second aspect, the flight information includes: landing preparation request information and third flight state information; the transition channel comprises a first transition channel; the determining the capacity information of at least one of the overtaking channel, the driving channel and the transition channel according to the flight information comprises: determining capacity information corresponding to the first transition channel according to the landing preparation request information and the third flight state information; the sending of the instruction to the target aircraft when the capacity information meets a preset condition includes: and under the condition that the capacity information corresponding to the first transition channel meets a third preset condition, sending a channel change instruction and information of a target first transition channel to the target aircraft.

Based on the technical scheme, the landing preparation control for the target aircraft is realized. In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, enabling automatic landing preparation of the vertical take-off and landing unmanned aircraft.

According to a third possible implementation manner of the second aspect, in a fourth possible implementation manner of the second aspect, the flight information includes: landing request information and fourth flight state information; the transition channel comprises a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information comprises: determining the capacity information corresponding to the second transition channel and the at least one landing channel according to the landing request information and the fourth flight state information; the sending of the instruction to the target aircraft when the capacity information meets a preset condition includes: and under the condition that the capacity information corresponding to the second transition channel and the at least one landing channel meets a fourth preset condition, sending a landing allowing instruction, information of a target landing channel, target landing point information and target second transition channel information to the target aircraft.

Based on the technical scheme, the landing control aiming at the target aircraft is realized. In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, thereby enabling automatic landing of the vertical take-off and landing unmanned aircraft.

In a fifth possible implementation form of the second aspect, according to the second aspect or the various possible implementation forms of the second aspect, the transition corridor comprises a third transition corridor; the aviation area also comprises at least one take-off channel and at least one take-off point, wherein the take-off point is the intersection point of the take-off channel and the third transition channel; the flight information comprises takeoff request information and a target takeoff channel identifier where the target aircraft is located; the determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information comprises: determining the capacity information corresponding to the third transition channel and the target takeoff channel according to the takeoff request information and the target takeoff channel identifier; the sending of the instruction to the target aircraft when the capacity information of the aviation area meets a preset condition includes: and under the condition that the capacity information corresponding to the third transition channel and the target takeoff channel meets a fifth preset condition, sending a takeoff allowing instruction, the information of the target takeoff channel, the information of a target takeoff point and the information of a target third transition channel to the target aircraft.

In a third aspect, an embodiment of the present application provides a communication device for use with a target aircraft flying in an airspace, wherein the airspace includes: at least one of an overrun channel, a travel channel, and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the transition of the target aircraft between a normal flight state and at least one of a take-off state, a hovering state and a descending state; the device comprises: the sending module is used for sending flight information to the control platform; the regulatory platform is for managing at least one aircraft flying within the airspace region, the at least one aircraft including the target aircraft; the flight information is used for determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel; and the response module is used for responding to the instruction sent by the control platform and executing corresponding flight action.

According to a third aspect, in a first possible implementation manner of the third aspect, the flight information includes: first flight status information, the flight status information comprising: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the response module is further configured to: receiving a channel change instruction sent by the control platform and information of a target driving channel; wherein the information of the target driving channel comprises: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel; and responding to the channel change instruction, and switching channels according to the information of the target driving channel.

According to a third aspect or the first possible implementation manner of the third aspect, in a second possible implementation manner of the third aspect, the flight information includes: channel override request information and second flight state information; the response module is further configured to: receiving a channel change instruction sent by the control platform and information of a target exceeding a channel; and responding to the channel change instruction, and switching channels according to the information of the target exceeding the channel.

According to the third aspect or various possible implementation manners of the third aspect, in a third possible implementation manner of the third aspect, the flight information includes: landing preparation request information and third flight state information; the transition channel comprises a first transition channel; the sending module is further configured to: when the target aircraft reaches a landing preparation point, sending the landing preparation request information and the third flight state information to the control platform; the response module is further configured to: receiving a channel change instruction sent by the control platform and information of a target first transition channel; and responding to the channel change instruction, and switching channels according to the information of the target first transition channel.

According to a third possible implementation manner of the third aspect, in a fourth possible implementation manner of the third aspect, the flight information includes: landing request information and fourth flight state information; the transition channel comprises a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the sending module is further configured to: sending the landing request information and the fourth flight state information to the control platform under the condition that the target aircraft is switched to the first transition channel; the response module is further configured to: receiving a landing allowing instruction, target landing channel information, target landing point information and target second transition channel information sent by the control platform; responding to the command allowing landing, flying to the target landing point through the target second transition channel, and executing a landing action according to the information of the target landing channel.

According to the third aspect or various possible implementations of the third aspect above, in a fifth possible implementation of the third aspect, the transition lane includes a third transition lane; the aviation area also comprises at least one takeoff channel and at least one takeoff point, wherein the takeoff point is the intersection point of the takeoff channel and the transition channel; the flight information includes: taking-off request information and a target taking-off channel identifier where the target aircraft is located; the sending module is further configured to: sending takeoff request information and the target takeoff channel identification to the control platform under the condition that the target aircraft is located in a target takeoff channel; the response module is further configured to: receiving a takeoff permission instruction, information of the target takeoff channel, information of a target takeoff point and information of a target third transition channel sent by the control platform; responding to the allowable takeoff instruction, executing takeoff action according to the information of the target takeoff channel, and entering the third transition channel through the target takeoff point.

In a fourth aspect, embodiments of the present application provide a communication device for use with a regulatory platform for managing at least one aircraft flying within an airspace, the at least one aircraft including a target aircraft; wherein the aviation zone comprises: at least one of an overrun channel, a travel channel, and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the transition of the target aircraft between a normal flight state and at least one of a take-off state, a hovering state and a descending state; the device comprises: the receiving module is used for receiving flight information sent by the target aircraft; the determining module is used for determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information; and the instruction module is used for sending an instruction to the target aircraft under the condition that the capacity information meets a preset condition.

According to a fourth aspect, in a first possible implementation manner of the fourth aspect, the flight information includes: first flight status information, the flight status information comprising: at least one of a channel identification of a channel in which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the determining module is further configured to: determining capacity information corresponding to the driving channel according to the first flight state information; the instruction module is further configured to: under the condition that the capacity information corresponding to the running channel meets a first preset condition, sending a channel changing instruction and information of a target running channel to the target aircraft; wherein the target travel channel information includes: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel.

According to a fourth aspect or the first possible implementation manner of the fourth aspect, in a second possible implementation manner of the fourth aspect, the flight information includes: channel override request information and second flight state information; the determining module is further configured to: determining capacity information corresponding to the overtaking channel according to the channel overtaking request information and the second flight state information; the instruction module is further configured to: and under the condition that the capacity information corresponding to the transcendental navigation channel meets a second preset condition, sending a navigation channel changing instruction and information of the target transcendental navigation channel to the target aircraft.

According to a fourth aspect or various possible implementations of the fourth aspect, in a third possible implementation of the fourth aspect, the flight information includes: landing preparation request information and third flight state information; the transition channel comprises a first transition channel; the determining module is further configured to: determining capacity information corresponding to the first transition channel according to the landing preparation request information and the third flight state information; the instruction module is further configured to: and under the condition that the capacity information corresponding to the first transition channel meets a third preset condition, sending a channel change instruction and information of a target first transition channel to the target aircraft.

According to a third possible implementation manner of the fourth aspect, in a fourth possible implementation manner of the fourth aspect, the flight information includes: landing request information and fourth flight state information; the transition channel comprises a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the determining module is further configured to: determining the capacity information corresponding to the second transition channel and the at least one landing channel according to the landing request information and the fourth flight state information; the instruction module is further configured to: and under the condition that the capacity information corresponding to the second transition channel and at least one landing channel meets a fourth preset condition, sending a landing allowing instruction, information of a target landing channel, target landing point information and target second transition channel information to the target aircraft.

In a fifth possible implementation form of the fourth aspect, according to the fourth aspect or the various possible implementation forms of the fourth aspect, the transition corridor comprises a third transition corridor; the aviation area also comprises at least one takeoff channel and at least one takeoff point, wherein the takeoff point is the intersection point of the takeoff channel and the third transition channel; the flight information comprises takeoff request information and a target takeoff channel identifier where the target aircraft is located; the determining module is further configured to: determining the capacity information corresponding to the third transition channel and the target takeoff channel according to the takeoff request information and the target takeoff channel identifier; the instruction module is further configured to: and under the condition that the capacity information corresponding to the third transition channel and the target takeoff channel meets a fifth preset condition, sending a takeoff allowing instruction, the information of the target takeoff channel, the information of a target takeoff point and the information of a target third transition channel to the target aircraft.

In a fifth aspect, an embodiment of the present application provides a communication apparatus, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the communication method in the first aspect or the multiple possible implementations of the first aspect, or the communication method in the second aspect or the multiple possible implementations of the second aspect. The communication device may be, for example, an aircraft or a controlled platform.

In a sixth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the communication method in the above-mentioned first aspect or the multiple possible implementations of the first aspect, or the communication method in the multiple possible implementations of the second aspect or the second aspect.

In a seventh aspect, an embodiment of the present application provides a computer program product, which includes computer readable code or a non-transitory computer readable storage medium carrying computer readable code, and when the computer readable code runs in an electronic device, a processor in the electronic device executes a communication method in the foregoing first aspect or multiple possible implementations of the first aspect, or a communication method in the second aspect or multiple possible implementations of the second aspect.

For technical effects of the above aspects and various possible implementations, refer to the first aspect or the second aspect.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the application and, together with the description, serve to explain the principles of the application.

Fig. 1 (a) - (b) show schematic diagrams of two modes of operation of an ACARS data link according to an embodiment of the present application.

FIG. 2 illustrates a schematic diagram of regulatory domain planning and classification according to an embodiment of the present application.

Fig. 3 shows a class a regulatory domain height hierarchy diagram according to an embodiment of the present application.

FIG. 4 illustrates a schematic view of a fixed-wing aircraft approaching a takeoff and landing in accordance with an embodiment of the present application.

Fig. 5 shows a schematic diagram of a takeoff area and a landing area configuration of a helicopter according to an embodiment of the present application.

FIG. 6 illustrates an architecture diagram of an air traffic control system according to an embodiment of the present application.

7 (a) -7 (d) show schematic diagrams of a flight airspace demarcating an unmanned aircraft, according to an embodiment of the present application.

FIG. 8 illustrates a schematic view of cruise airspace in accordance with an embodiment of the present application.

9 (a) -9 (b) illustrate a schematic view of a landing airspace according to an embodiment of the present application.

10 (a) -10 (b) show schematic diagrams of a takeoff airspace according to an embodiment of the present application.

Fig. 11 shows a flow diagram of a communication method according to an embodiment of the present application.

FIG. 12 illustrates a channel capacity model diagram according to an embodiment of the present application.

Fig. 13 shows a flow diagram of another communication method according to an embodiment of the present application.

FIG. 14 shows a schematic diagram of a course change according to an embodiment of the present application.

Fig. 15 shows a flow diagram of another communication method according to an embodiment of the application.

FIG. 16 shows a schematic diagram of enabling channel changes according to an embodiment of the present application.

FIG. 17 shows a schematic diagram of disallowing channel changes, according to an embodiment of the application.

Fig. 18 shows a flow diagram of another communication method according to an embodiment of the present application.

FIG. 19 illustrates a schematic diagram of the preparation for landing for lane switching according to an embodiment of the present application.

Fig. 20 shows a flow diagram of another communication method according to an embodiment of the present application.

Fig. 21 shows a flow diagram of another communication method according to an embodiment of the present application.

Fig. 22 shows a schematic structural diagram of a communication device according to an embodiment of the present application.

Fig. 23 is a schematic structural diagram of another communication device according to an embodiment of the present application.

Fig. 24 shows a schematic structural diagram of another communication device according to an embodiment of the present application.

Detailed Description

Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present application. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present application.

To facilitate an understanding of the embodiments of the present application, a brief description of some concepts related to the embodiments of the present application will be provided below.

1. Flying mode

The current flight modes of a pilot piloting an aircraft include visual flight and instrument flight: wherein, visual flight: the driver flies according to the visual flight rules according to the operation manual, and the flight safety is guaranteed by the driver; the ground control station keeps information interactive with the driver through voice calling. Instrument flight: after the pilot confirms with the ground control station, the pilot switches into the instrument flight state, the aircraft can fly automatically according to the instrument, and the pilot can give an alarm according to the abnormity and other emergency interventions. During instrument flight, the ground control station performs information interaction with the aircraft through digital information and wireless communication technology, and the driver and the ground control station keep in touch through voice calling.

Generally, when the aircraft is in a cruising stage, a pilot can switch to instrument flight (instrument flight is needed to exceed 6000 m); in the takeoff stage, the aircraft flies in full visual mode; in the landing phase, visual flight or instrument flight. When the visibility is less than a certain range, the aircraft needs to perform instrument flight, the aircraft cannot take off at the moment, and the aircraft which needs to land adopts blind landing (automatic landing) or changes landing airports.

2. Aircraft Communication Addressing and Reporting Systems (ACARS).

Based on an ACARS data chain established between the aircraft and the ground control station, the flight management is realized through data communication, voice calling and the like between a controller and a driver. Airline changes, take-offs, landings, etc. for aircraft are mainly achieved by voice calls, and management is achieved by voice confirmation between the pilot and the controller. The data communication mainly carries out flight state monitoring, air route information issuing and the like.

ACARS communication is divided into two working modes, data communication and voice communication, according to the type of information transmission, ACARS is usually in a data mode and can be converted into a voice mode manually or according to ground requirements. The data communication link is divided into two operation modes, namely Very High Frequency (VHF) a and VHF B, and fig. 1 (a) - (B) are schematic diagrams illustrating the two operation modes of the ACARS data link according to an embodiment of the present application, as shown in fig. 1 (a); VHF A mode of operation: similar to the "broadcast" approach; in this working mode, an airborne system of the aircraft "broadcasts" an F-line message to all remote Ground receiving stations (RGSs) "within a communication coverage range, all RGSs will Receive and all forward the message to a Ground processing center, the Ground processing center selects an RGS Station with a better received signal, and the RGS Station is responsible for responding to a downlink message and sending back an acknowledgement signal (ACK); the ground processing center is responsible for continuously transmitting the received downlink message to a corresponding subsequent user system. As shown in fig. 1 (B), VHF B mode of operation: under the working mode, through the management of communication logic channel, the aircraft establishes communication contact with the appointed ground station, the downlink message contains RGS station address code of appointed received data, only the ground station which has established logic channel with ACARS has right to receive and process the downlink data, other RGS stations ignore the information.

3. Controlled airspace (controlled airspace)

The controlled airspace is a defined airspace space; the control airspace division method of the civil aviation industry is mainly suitable for medium and large aircrafts such as fixed-wing aircrafts, helicopters and the like. In China, a non-controlled airspace (such as a B-type flight-adaptive airspace) is not provided temporarily, so that the controlled airspace in China is suitable for all aircrafts, and by taking the controlled airspace division in China as an example, fig. 2 shows a schematic diagram of the division and the classification of the controlled airspace according to an embodiment of the application, and as shown in fig. 2, the controlled airspace in China is mainly divided into 4 types, namely A, B, C, D; wherein the class-A controlled airspace is a high-altitude controlled airspace, and the high-altitude air route is more than 6000 meters (inclusive); the class B control airspace is a medium-low altitude control airspace; the class C controlled airspace is an approaching controlled airspace; and the class D control airspace is an airport control airspace.

4. Air traffic control for fixed wing aircraft

The aircraft flying in the control airspace needs to receive air traffic management service, the A, C, D class control airspace is mainly suitable for fixed-wing transport aviation aircrafts, and the civil aviation bureau focus provides A class air traffic management service for A, C, D class control airspace, which mainly comprises: air Traffic Control (ATC), flight Information Services (FIS), aeronautical Weather Services (AWS), or ALert notification Services (AL), etc., and relevant Air Traffic management regulations and technical specifications are established; .

The class-a controlled airspace is mainly used for cruising flight and is managed by height layering and setting an airway (parallel airway), fig. 3 shows a schematic height layering diagram of the class-a controlled airspace according to an embodiment of the present application, and as shown in fig. 3, the class-a controlled airspace is divided into a plurality of height layers (i.e., FL290, FL300 … in the figure). The mode of changing the air route and the altitude layer of the aircraft flying in the A-type control airspace is as follows: when the aircraft requires to change the flight level or change the flight, the air condition should be found out, and after the approval of a control station (control unit), the aircraft can be allowed to change the flight level or change the flight; after receiving a report that the aircraft pilot has been forced to change the flight level or to change the course, it is necessary to immediately inform the relevant aircraft and the relevant control station about the change in the air.

C. The class-D controlled airspace is mainly used for takeoff and landing of an aircraft and is managed by setting an approach route, and fig. 4 shows a schematic diagram of approach takeoff and landing of a fixed-wing aircraft according to an embodiment of the present application, as shown in fig. 4; a takeoff stage, wherein the aircraft takes off from the airport runway and enters an exit point (such as an exit point 1 and an exit point 2 … in the figure) allocated by the ground control station; and (3) a landing stage, entering an entry point (such as an entry point 1 and an entry point 2 … in the figure) and a spiral waiting area (such as a waiting area 1 and a waiting area 2 … in the figure) allocated by the ground control platform. The approach taking off and landing of the aircraft is also completed through voice interaction between the control desk and the driver. When a plurality of aircrafts need to take off, the aircrafts need to pass through a control platform; when a plurality of aircrafts need to land, all the aircrafts need to fly to a designated waiting area to wait for the allocation of controllers.

5. Air traffic control for helicopters

The class B regulatory airspace described above is applicable to other types of aircraft (e.g., helicopters, seaplanes, etc., commonly referred to as general aviation). The civil aviation administration is responsible for the management of class B controlled airspace according to general aviation flight control regulations, and at present, the class B controlled airspace mainly provides class B air traffic management services, which mainly comprise: flight information services, aeronautical weather services and/or warning services do not provide air traffic control services, and general aviation enterprises applying for flight missions are responsible for flight safety guarantee.

Although the fixed-wing airplane take-off and landing method is also suitable for the helicopter, the advantage of vertical take-off and landing of the helicopter is not fully exerted, and low efficiency is caused. Therefore, a helicopter taking-off and landing method is formulated in civil aviation air traffic control rules formulated by the civil aviation administration: before the helicopter taking off and landing firstly leaves the taking-off and landing area, the helicopter taking off later cannot start taking off; before the helicopter taking off and landing firstly leaves the taking-off and landing area, the helicopter landing cannot enter the taking-off and landing area; the interval between the take-off point and the landing point is more than 60 meters, and the take-off course and the landing course can be permitted to take off and land simultaneously when not crossed. Fig. 5 is a schematic diagram illustrating a takeoff area and a landing area of a helicopter according to an embodiment of the present application, as shown in fig. 5, where L represents a length of a body of the helicopter, H represents a height of the helicopter, and D represents a diameter of a rotor of the helicopter. Namely: the take-off and landing zones of the helicopter are defined according to specific conditions, the diameters of the areas of the take-off and landing sites are determined according to the types of helicopters, the length and the width of the take-off and landing sites are not less than twice the diameter of the rotor, the interval between the boundaries of the take-off sites and the landing sites is more than twice the diameter of the rotor, and the front-back distance is more than four times the length of the helicopter body.

The helicopter is generally not provided with an automatic landing device and an automatic cruise device, the helicopter flies according to the applied and planned air routes by referring to the visual flight criteria of civil aviation, is driven by a driver and ensures the flight safety, and can automatically fly in the cruise stage, but cannot exceed and change the air route without the permission of a ground controller.

6. Unmanned Aircraft System (Unmanned Aircraft System, UAS)

The Unmanned Aircraft system comprises a ground station or a remote Controller (Controller), and an Unmanned Aircraft (UA); different from a fixed wing airplane, the pilotless aircraft can be independent of a runway in the taking-off and landing stages, and the use scene is wider; in addition, compared with a helicopter with vertical take-off and landing, the unmanned aircraft can be driven without a driver, and the economy is higher. Illustratively, an unmanned aerial vehicle may include: the unmanned aircraft capable of vertically taking off and landing is applied to various scenes such as urban manned, emergency transportation of food and medical supplies, logistics distribution and the like; the large vertical take-off and landing unmanned aircraft mainly comprises the following types: short distance: many rotors, the centre distance: composite wing, intermediate pitch: tiltrotor rotors, and the like.

Based on the description of the air traffic control modes of civil aviation fixed wing airplanes and helicopters, at present, the air traffic control is mainly carried out through voice interaction between a controller and a driver, and automatic management of the aircraft is not realized, namely, the aircraft cannot carry out automatic re-aviation and automatic take-off and landing and must be manually operated by the driver. However, unlike civil aviation fixed wing aircraft and helicopters, the vertical take-off and landing unmanned aircraft can be independent of the pilot, and therefore, the above-mentioned air Traffic control method for fixed wing aircraft and helicopters is no longer applicable to vertical take-off and landing unmanned aircraft, and currently, a scheme of air Traffic control (UAS Traffic Management, UTM) for vertical take-off and landing unmanned aircraft is lacking.

In order to solve the above technical problem, the present application provides a communication method (detailed description is given below) that can implement air traffic control for a vertical takeoff and landing unmanned aircraft that can fly more orderly and efficiently.

In order to better understand the technical solution disclosed in the embodiments of the present application, an air traffic control application scenario in the embodiments of the present application is described. Fig. 6 shows an architecture diagram of an air traffic control system according to an embodiment of the present application, which may include, as shown in fig. 6: an aircraft 601 and a controlled platform 602, wherein the aircraft 601 may be an unmanned aircraft, for example, a vertical takeoff and landing unmanned aircraft, a manned unmanned aircraft, or the like; policing platform 602 may be a receiving ground station. The aircraft 601 and the regulatory platform 602 may be connected through a wireless network, for example, a data link in the wireless network may be the ACARS data link described above; when data is transmitted between the aircraft 1001 and the control platform 1002 through the ACARS data link, reference may be made to the existing ACARS data transmission configuration and transmission protocol, which is not limited. For example, the VHF a or VHFB operating mode described above may be used between the aircraft 601 and the regulated platform 602, and only data signals need to be transmitted, but voice signals need not be transmitted. In this way, the aircraft 601 and the control platform 602 may execute the communication method according to the embodiment of the present application, and the control platform 602 provides the air traffic control service for the aircraft 601, thereby implementing air traffic control for the aircraft 601. The aircraft 601 can execute flight actions such as automatic take-off, automatic diversion or automatic landing based on instructions of the control platform 602, thereby realizing ordered and efficient flight.

It should be noted that the application scenario in fig. 6 is only illustrated with one aircraft and one control platform, it should be understood that this does not limit the number of aircraft and the number of control platforms in the application scenario, and more aircraft and more control platforms and other devices may be included in the application scenario, and are not illustrated here. In addition, the application scenario described in the embodiment of the present application is to illustrate the technical solution of the embodiment of the present application more clearly, and does not limit the technical solution provided in the embodiment of the present application, and as can be known by a person skilled in the art, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems in view of the appearance of other similar or new application scenarios, for example, scenarios such as manned aircrafts, manned helicopters, automated Guided Vehicles (AGVs), internet vehicles, L5-class autonomous unmanned vehicles, and automatic flight control of manned aircrafts that divide parallel air routes.

Before introducing the communication method provided by the present application, the flight space planning method provided by the present application is explained.

7 (a) -7 (d) show schematic views of a flight space of a compartmentalized unmanned aircraft according to an embodiment of the present application, wherein the flight space may be a low altitude (e.g., below 1000 m) area, i.e., the above-described class B restricted airspace; as shown in fig. 7 (a), the free flight planning mode is adopted, and the channel of the unmanned aircraft is not designed; fig. 7 (b) shows the division of the altitude stratification flight, which can be referred to the above-mentioned altitude stratification shown in fig. 3; as shown in fig. 7 (c), the planning mode of isolated airspace flight limits the unmanned aircraft to a specific airspace flight; as shown in fig. 7 (d), the pipeline flight planning method is to design an air corridor, similar to a ground highway; the four modes of dividing the flight airspace can be suitable for different scenes.

Taking the above-mentioned dividing method of the flying in the height layers shown in fig. 7 (b) as an example, the embodiment of the present application provides a method for dividing a cruise airspace, where the cruise airspace may include one or more height layers, and the height layers are arranged in parallel up and down; each altitude layer comprises cruising routes flying oppositely, wherein the cruising route corresponding to each flying direction can comprise at least one of an overtaking route, a driving route and a transition route (also called cruising transition route), and the number of the overtaking route, the driving route and the transition route can be one or more; the widths and heights of the overrunning channel, the driving channel and the transition channel can be set according to requirements, exemplarily, the widths and heights of the overrunning channel, the driving channel and the transition channel can be the same, and a protective interval can be set between different channels. The flying speeds corresponding to the overrun, travel, and transition lanes decrease in sequence, for example, the flying speeds may include a target speed (i.e., a specified average speed within the lane), an upper limit speed (i.e., a maximum speed allowed within the lane), and a lower limit speed (i.e., a minimum speed allowed within the lane).

The overtaking channel is used for the aircraft to overtake other aircraft in front of the aircraft, and can also be called a high-speed channel, and the channel does not allow hovering; for example, the overrun route may be located outermost of the cruising route; the overrun-path corresponding flight speed may include a target speed Vh, an upper limit speed Vh1, and a lower limit speed Vh2. The driving channel is used for the normal flying of the aircraft according to a specified speed, and can also be called a medium-speed channel, and the channel is not allowed to hover; for example, the travel route may be located in the middle of the cruise route; the corresponding flight speed of the driving channel can comprise a target speed Vr, an upper limit speed Vr1 and a lower limit speed Vr2. The transition channel is used for the transition of the aircraft between a normal flight state and at least one of a takeoff state, a hovering state and a descending state, and can also be called as a low-speed channel; illustratively, the transition corridor may be located innermost of the cruise route; the flight speed corresponding to the transition channel may include a target speed Vl, an upper limit speed Vl1, and a lower limit speed 0. Illustratively, vh1 > Vh2, vr1 > Vr2, vl1 > Vl2, and Vh > Vr > Vl as described above.

For example, FIG. 8 illustrates a schematic view of a cruise airspace, which, as shown in FIG. 8, may include two parallel altitudes, where each altitudes includes a cruise route allowing oncoming flight, according to one embodiment of the present application; the cruising route corresponding to each flight direction can comprise an overtaking route, a running route and a transition route, and protective intervals are arranged between the overtaking route and the running route and between the transition route and the running route.

The embodiment of the application also provides a method for dividing a landing airspace, wherein the landing airspace can comprise: one or more landing transition corridors, one or more landing corridors, and one or more landing points; the landing points are the intersection points of the landing channels and the landing transition channels, namely each landing point is the intersection point of one landing channel and the landing transition channel, and the landing points corresponding to different landing channels are different. The shape, width, length, etc. of the landing passage can be set as required, and illustratively, the landing passage can be columnar; the landing transition channel can be a three-dimensional circular landing transition channel, and a protection airspace can be arranged in the landing transition channel; the intersection point of the three-dimensional circular landing transition channel and each columnar landing channel is a landing point. The landing airspace can be connected with a cruise airspace, and illustratively, a circular landing transition channel in the landing airspace can be connected with a cruise transition channel in the cruise airspace, wherein the intersection point of the cruise transition channel and the circular landing transition channel is the entry point of the landing airspace. For example, only one aircraft may be allowed to land in one landing aisle at a time, and multiple aircraft may be allowed to land simultaneously in different landing aisles in the landing airspace.

For example, fig. 9 (a) -9 (b) are schematic diagrams of a landing airspace according to an embodiment of the present application, and fig. 9 (a) shows a cross-section of the landing airspace, which may include a three-dimensional circular landing transition channel with a protected airspace inside; the three-dimensional circular ring landing transition channel is connected with four cruise transition channels and comprises four access points (only the access point E is shown in the figure); the intersection points of the three-dimensional circular landing transition channel and the n columnar landing channels are the landing points A1 and A2 … An. As shown in fig. 9 (b), the vertical surface of one landing passage is provided with a protective space between the landing passage and the other landing passages, and the landing point of the landing passage is A1.

The embodiment of the application also provides a planning method of a takeoff airspace, wherein the takeoff airspace can comprise: one or more annular takeoff transition channels, one or more takeoff channels and one or more takeoff points; the take-off points are the intersection points of the take-off channels and the annular take-off transition channel, namely, each take-off point is the intersection point of one take-off channel and the annular take-off transition channel, and the take-off points corresponding to different take-off channels are different. The shape, width, length and the like of the takeoff channel can be set as required, and the takeoff channel can be in a column shape for example; the takeoff transition channel can be a three-dimensional circular takeoff transition channel, and a protection airspace can be arranged in the takeoff transition channel; the intersection point of the three-dimensional circular takeoff transition channel and each columnar takeoff channel is a takeoff point. The takeoff airspace can be connected with the cruise airspace, illustratively, a circular takeoff transition channel in the takeoff airspace can be connected with a cruise transition channel in the cruise airspace, wherein the intersection point of the cruise transition channel and the circular takeoff transition channel is an exit point of the takeoff airspace. For example, only one aircraft may be allowed to take off in one takeoff channel at the same time, and multiple aircraft may be allowed to take off simultaneously in different takeoff channels in the takeoff airspace.

For example, fig. 10 (a) -10 (b) are schematic diagrams illustrating a takeoff airspace according to an embodiment of the present application, such as the cross-section of the takeoff airspace illustrated in fig. 10 (a), which may include a three-dimensional circular takeoff transition channel with a protected airspace disposed therein; the three-dimensional circular takeoff transition channel is connected with four cruise transition channels and comprises four exit points (only an exit point F is shown in the figure); the intersection points of the three-dimensional circular takeoff transition channel and the n columnar takeoff channels are the takeoff points B1 and B2 … Bn. As shown in fig. 10 (B), the vertical plane of a takeoff channel is provided with a guard space between the takeoff channel and other takeoff channels, and the takeoff point of the takeoff channel is B1.

The following describes a communication method provided in an embodiment of the present application.

FIG. 11 illustrates a flow chart of a method of communication according to an embodiment of the present application that may be applied to an air traffic control system, such as the air traffic control system illustrated in FIG. 6 described above; as shown in fig. 11, the method may include the steps of:

step 1101, the target aircraft sends flight information to the control platform.

The control platform is used for managing at least one aircraft flying in a specific aviation area, wherein the at least one aircraft comprises a target aircraft, namely the target aircraft flies in the aviation area and receives air traffic control service of the control platform. Illustratively, the target aircraft may be a vertical take-off and landing unmanned aircraft. For example, the target aircraft may be the aircraft 601 of fig. 6 described above, and the regulatory platform may be the regulatory platform 602 of fig. 6 described above; the target aircraft may send flight information to the regulatory platform via an ACARS data link.

Illustratively, the airspace zone may be a low-altitude zone, which may include: at least one of an overrun channel, a travel channel, and a transition channel; illustratively, the airspace may be cruise airspace, landing airspace, or takeoff airspace; for example, the cruise airspace may be the cruise airspace shown in fig. 8, the landing airspace shown in fig. 9 (a) to 9 (b), and the takeoff airspace shown in fig. 10 (a) to 10 (b).

Illustratively, the flight information may include: flight status information, channel override request information, landing preparation request information, landing request information, or takeoff request information, and the like. The flight state information may include: at least one of the identification of the current channel of the target aircraft, the current speed of the target aircraft and the current position of the target aircraft; the current position can be obtained by a Global Positioning System (GPS) Positioning System configured for the aircraft.

The flight information is used for determining capacity information corresponding to at least one of an overtaking channel, a driving channel and a transition channel; the capacity information may include current capacity information and standard capacity information, where the current capacity information indicates the number of aircraft actually flying in a certain channel at the current time; the standard capacity information indicates the maximum number of aircraft that are allowed to fly simultaneously within a certain flight path. It can be understood that, for a certain channel, if the current capacity reaches the standard capacity, it represents that the capacity of the route is saturated; otherwise, the spare space exists in the channel capacity of the section. The sum of the standard capacities corresponding to the channels in the aviation area is the route capacity of the aviation area, namely the maximum number of aircrafts allowed to fly simultaneously in the aviation area. The influencing factors of the route capacity may include: number of lanes, lane spacing (vertical spacing, horizontal spacing), lane length, aircraft speed, and the like.

For example, FIG. 12 illustrates a channel capacity model diagram according to an embodiment of the present application; as shown in fig. 12, the aircraft a and the aircraft B fly on a channel having a length Lk, and the flight speeds are both the target speed, X, of the channel _k Is the most advanced of the channelThe small flight interval is set to be short,∧x is a protection interval allowance set by the control platform;∧x + Xk is the flight protection interval for aircraft A and aircraft B. The standard capacity of the channel, the route capacity of the aviation area and the minimum flight interval can be obtained through the following formulas (1) - (3);

X _k ＝max(Vmax(k)-V(k)，V(k)-Vmin(k))*T _k ……………(3)

in the above equations (1) - (3), C is the capacity of the flight path in the flight area, ck is the standard capacity of a certain section of flight path k in the flight area, n is the number of flight paths in the flight area, lk is the length of the section of flight path, xk is the minimum flight interval of the section of flight path,∧x is a protection interval margin set by the control platform, and V (k), vmax (k) and Vmin (k) are respectively a target speed, an upper limit speed and a lower limit speed of the section of the navigation channel; tk is the maximum value of the actuation time, i.e., the time required for the flying speed of the aircraft to change from the target speed to the lower limit speed, and the time required for the flying speed of the aircraft to change from the target speed to the upper limit speed.

Step 1102, the control platform receives flight information sent by the target aircraft.

For example, each aircraft in the airspace area may send flight information to the control platform, and the control platform may receive the flight information sent by each aircraft in the airspace area.

And 1103, determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel by the control platform according to the flight information.

For example, the control platform may determine capacity information corresponding to at least one of an overrun channel, a travel channel, and a transition channel in the aviation area according to the received flight information of each aircraft.

In some examples, when the flight information includes only flight status information, the regulatory platform may determine capacity information corresponding to the travel channel; in some examples, when the flight information includes channel override request information and flight status information, the regulatory platform may determine capacity information corresponding to overriding the channel; in some examples, when the flight information includes landing preparation request information and flight status information, the regulatory platform may determine capacity information corresponding to the transition channel; in some examples, when the flight information includes landing request information and flight status information, the control platform may determine capacity information corresponding to each of the landing transition channel and the landing channel; in some examples, when the flight information includes takeoff request information and the target takeoff channel identifier, the control platform may determine capacity information corresponding to each of the takeoff transition channel and the target takeoff channel.

And 1104, under the condition that the capacity information meets the preset condition, the control platform sends an instruction to the target aircraft.

Wherein, the instruction can comprise an instruction which allows a certain flight action to be executed or an instruction which does not allow a certain flight action to be executed; illustratively, the instructions may include: channel change instructions, landing allow instructions, takeoff allow instructions, and the like.

The preset condition may be set according to a specific scenario, which is not limited herein. Illustratively, the preset condition may include that the capacity of the target channel is vacant, and may also include that the target channel has vacant time, that the flight protection interval of the target channel meets the flight safety requirement, and the like. In some examples, the control platform may send a channel change instruction and information of the target driving channel to the target aircraft if the capacity information corresponding to the driving channel meets a preset condition; in some examples, the control platform may send a channel change instruction and information of the target transchannel to the target aircraft if the capacity information corresponding to the transchannel meets a preset condition; in some examples, the control platform may send a channel change instruction and information of the target cruise transition channel to the target aircraft when the capacity information corresponding to the cruise transition channel meets a preset condition; in some examples, the control platform sends a landing permission instruction, information of a target landing channel, target landing point information and target landing transition channel information to the target aircraft when the capacity information corresponding to each of the landing transition channel and the landing channel meets a preset condition; in some examples, the control platform may send a takeoff permission instruction, information of the target takeoff channel, target takeoff point information, and target takeoff transition channel information to the target aircraft when the capacity information corresponding to each of the takeoff transition channel and the target takeoff channel meets a preset condition.

In step 1105, the target aircraft executes corresponding flight actions in response to the commands sent by the control platform.

Illustratively, flight actions may include changing lanes, taking off, landing, hovering, and so forth.

Further, the target aircraft may send corresponding feedback information to the control platform after performing the corresponding flight action. For example, the target aircraft may also send corresponding feedback information to the regulatory platform after the execution fails.

In an embodiment of the present application, the aviation area may include: at least one of an overrun channel, a travel channel, and a transition channel; the method comprises the steps that a target aircraft sends flight information to a control platform, the control platform determines capacity information corresponding to at least one of an overrun channel, a driving channel and a transition channel according to the flight information, the control platform sends an instruction to the target aircraft under the condition that the capacity information meets a preset condition, and the target aircraft responds to the instruction and executes corresponding flight action; in this way, the control platform provides the air traffic control service for the target aircraft, so as to realize the air traffic control for the target aircraft. In some examples, the target aircraft may be a take-off and landing unmanned aircraft such that air traffic control for the take-off and landing unmanned aircraft may be implemented. In other examples, the flight actions may include take-off, diversion, landing, and the like; like this, the control platform can send the instruction of carrying out flight actions such as auto-takeoff, automatic diversion or automatic landing to the unmanned aerial vehicle of VTOL, and the unmanned aerial vehicle of VTOL responds to above-mentioned instruction, can carry out flight actions such as auto-takeoff, automatic diversion or automatic landing to realize the orderly, high-efficient flight of unmanned aerial vehicle of VTOL.

The following is an exemplary description of an aircraft implementing automatic channel change.

FIG. 13 is a flow chart illustrating another communication method according to an embodiment of the present application that may be applied to the air traffic control system shown in FIG. 6 described above; as shown in fig. 13, the method may include the steps of:

step 1301, the target aircraft sends first flight state information to the control platform.

For a detailed description of the target aircraft and the control platform, reference may be made to the step 1101, which is not described herein again.

Illustratively, the first flight status information may include: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft.

The airspace may include cruise airspace, for example, the cruise airspace shown in fig. 8 above.

For example, when the target aircraft flies in a travel channel of a cruise airspace, an identification of the current channel where the target aircraft is located, the current speed of the target aircraft, the current position of the target aircraft, and the like may be periodically transmitted to the control platform.

In step 1302, the control platform receives first flight status information sent by the target aircraft.

For example, each aircraft within the airspace area may periodically transmit the flight status information to the control platform, and the control platform may receive the flight status information transmitted by each aircraft within the airspace area.

And step 1303, the control platform determines the capacity information corresponding to the driving channel according to the first flight state information.

For example, the control platform may determine, according to the received flight state information of each aircraft, capacity information corresponding to each driving channel in the aviation area.

For example, the control platform may calculate, according to the first flight status message, current capacity information and standard capacity information of a driving channel where the target aircraft is located according to the above equations (1) - (3); similarly, the current capacity information and the standard capacity information of other travel channels in the patrol aviation domain can be calculated according to the flight state information of each aircraft, and information such as a protection interval corresponding to each travel channel and an actual interval between each aircraft can be determined.

And 1304, under the condition that the capacity information corresponding to the driving channel meets a first preset condition, the control platform sends a channel changing instruction and information of the target driving channel to the target aircraft.

The target driving channel can comprise a driving channel in the airspace area and outside the current driving channel of the target aircraft; meanwhile, the capacity of the target driving channel needs to be free. For example, the control platform may determine whether the capacity of each driving channel is free according to the capacity information corresponding to each driving channel, so as to use the free driving channel as the target driving channel. For example, the target driving channel still needs to have free time, and the way of calculating the free time can refer to the existing way, and is not limited to this.

Illustratively, the first preset condition may include: the current capacity corresponding to the current driving channel of the target aircraft exceeds a preset threshold value, and the target driving channel exists. The method comprises the steps that the current capacity corresponding to a current running channel where a target aircraft is located exceeds a preset threshold value, the running channel is indicated to be congested, and the capacity of the running channel needs to be optimized; the existence of the target driving channel indicates that a relatively unobstructed driving channel exists; the control platform sends a channel change instruction and information of a target driving channel to the target aircraft. Wherein, the target driving channel information may include: at least one of the identification of the target driving channel, the corresponding speed of the target driving channel and the time for changing the channel; the time for changing the channel can comprise a channel changing allowing time, a channel changing completing allowing time and the like, wherein the channel changing allowing time can represent the latest time for allowing the aircraft to perform channel switching, and the channel changing completing allowing time represents the latest time for allowing the aircraft to complete channel switching; for example, the time for changing the channel may be determined according to the guard interval corresponding to the target driving channel and the actual interval between the aircrafts, so as to ensure that after the target aircraft changes to the target driving channel, the interval between the target aircraft and the aircraft flying before and after the target aircraft is greater than the flight guard interval.

And step 1305, the target aircraft receives the channel changing instruction sent by the control platform and the information of the target running channel.

And step 1306, the target aircraft responds to the channel change instruction and carries out channel switching according to the information of the target running channel.

After receiving the channel change command message sent by the control platform, the target aircraft must start channel switching before the allowed channel change time arrives, and complete channel switching before the allowed channel change completion time arrives. For example, in response to a channel change instruction, the target aircraft may determine a target driving channel according to the identifier of the target driving channel and perform channel switching according to the speed corresponding to the target driving channel before the allowed channel change time; and meanwhile, before the time for completing lane change is allowed, flying to the target driving channel, wherein the flying speed accords with the speed corresponding to the target driving channel.

Further, after the channel switching is completed, the target aircraft may send information such as a channel change completion message and actual channel change completion time to the control platform. Illustratively, if the target aircraft fails to initiate a channel switch before the allowed lane change time arrives, a channel change failure message is sent to the regulatory platform; and if the control platform does not receive the channel change completion message after time out, the default target aircraft channel change fails.

For example, fig. 14 shows a schematic diagram of a channel change according to an embodiment of the present application, as shown in fig. 14, R1 is an identifier of a traveling channel where the target aircraft is currently located, and Vr' is a current speed of the target aircraft; r2 is the mark of the target driving channel, and Vt is the target speed corresponding to the target driving channel. The allowable lane change time is T1, the lane change completion time is T2, and T3 is the actual lane change completion time (not shown).

In the embodiment of the application, a target aircraft sends first flight state information to a control platform, the control platform determines capacity information corresponding to a running channel according to the first flight state information, the control platform sends a channel changing instruction and information of the target running channel to the target aircraft under the condition that the capacity information corresponding to the running channel meets a first preset condition, and the target aircraft responds to the channel changing instruction and carries out channel switching according to the information of the target running channel; thereby achieving cruise control for the target aircraft. In some examples, the target aircraft may be a take-off and landing unmanned aircraft, enabling automatic channel modification of the take-off and landing unmanned aircraft.

The following is an exemplary description of an aircraft implementing automatic channel override.

FIG. 15 is a flow chart of another communication method according to an embodiment of the present application that may be applied to the air traffic control system shown in FIG. 6 described above; as shown in fig. 15, the method may include the steps of:

step 1501, the target aircraft sends the channel override request information and the second flight state information to the control platform.

For a detailed description of the target aircraft and the control platform, reference may be made to the step 1101, which is not described herein again. The airspace may include cruise airspace, which may be, for example, the cruise airspace described above in FIG. 8.

For example, when the target aircraft is flying in the driving channel of the cruise airspace, and when other aircraft in front is identified and the passing is hoped to pass, the channel passing request information and the second flight state information can be sent to the control platform. The target aircraft may recognize the leading aircraft in an existing manner, but is not limited to this, and for example, the target aircraft may automatically sense the leading aircraft through a sensing device (such as a camera, a laser radar, or the like).

Illustratively, the second flight status information may include: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft.

And 1502, the control platform receives the channel override request information and the second flight state information sent by the target aircraft.

Illustratively, the regulatory platform may receive flight status information periodically transmitted by each aircraft within the airspace region.

And 1503, determining capacity information corresponding to the overtaking channel by the control platform according to the channel overtaking request information and the second flight state information.

For example, after receiving the override request information, the control platform may determine capacity information corresponding to the override channel according to the received flight state information of the aircraft in the override channel in the aviation area and the second flight state information; for example, capacity information corresponding to an override channel adjacent to the channel on which the target aircraft is located may be determined based on the identification of the channel on which the target aircraft is located.

Illustratively, the control platform can calculate the current capacity information and the standard capacity information of the transcatheter channel according to the above formulas (1) - (3) according to the flight state information of each aircraft in the transcatheter channel; information such as the guard interval corresponding to the transcatheter, the actual interval between each aircraft, etc. may also be determined.

And 1504, under the condition that the capacity information corresponding to the transcatheter channel meets a second preset condition, sending a channel change instruction and information of the target transcatheter channel to the target aircraft by the control platform.

Wherein the second preset condition may include: the capacity is vacant; for example, the control platform may determine whether the capacity of each overrunning channel is free according to the capacity information corresponding to each overrunning channel, so as to use the free overrunning channel as the target overrunning channel. When the capacity of a plurality of beyond channels in the empty area is vacant, one beyond channel can be determined as a target beyond channel, and the vacant time is needed for the target beyond channel.

Wherein, the target transchannel information may include: at least one of the identification of the target exceeding channel, the speed corresponding to the target exceeding channel and the time for changing the channel; for example, the time for changing the channel can be determined according to the guard interval corresponding to the target overtaking channel and the actual interval between each aircraft, so that after the target aircraft is changed to the target overtaking channel, the interval between the target aircraft and the aircraft flying before and after the target aircraft is larger than the flight guard interval.

For example, fig. 16 shows a schematic diagram of a channel change allowing method according to an embodiment of the present application, as shown in fig. 16, if an aircraft a wants to fly to a channel k with a length Lk where aircraft B and aircraft C are located, it is required that the distance between aircraft a and aircraft B and aircraft C is greater than the flight protection interval when aircraft a cuts into the channel∧X + Xk, thereby ensuring the flight safety. In fig. 16, the flying speeds of aircraft a, aircraft B, and aircraft C are all V (k), and the distance M between aircraft a and aircraft B when aircraft a cuts into the channel is larger than∧X + Xk and spaced from aircraft C by a distance N greater than∧X + Xk, then the channel change is allowed. For example, after the target aircraft changes to the target overtaking channel, when the interval between the target aircraft and the aircraft flying before and after the target aircraft is larger than the flight protection interval, the control platform allows the target aircraft to perform channel overtaking, and can determine information such as time for changing the channel.

Illustratively, a channel override rejection message is sent to the target aircraft if the regulatory platform does not allow the target aircraft to change channels; for example, the control platform may send a channel override rejection message to the target aircraft when the capacity information corresponding to the override channel does not satisfy the second preset condition; for another example, after the target aircraft flies to the target overtaking channel, if the interval between the target aircraft and the aircraft before and after the target aircraft is not larger than the flight protection interval, the target aircraft is not allowed to carry out channel overtaking; as another example, the target aircraft may not be allowed to make a fairway override if the target aircraft is sufficiently spaced from the aircraft it is desired to override.

For example, FIG. 17 shows a schematic view of disallowing channel changes according to an embodiment of the present application, as shown in FIG. 17, aircraft AAnd aircraft B are both on a channel k of length Lk, with aircraft a flying at the target speed V (k) of the channel and aircraft B flying at the upper limit speed Vmax (k) of the channel. If the aircraft A flies out of the exit point D of the channel, the distance of the aircraft B from the exit point D is larger than∧X + Xk, the control platform does not allow the aircraft B to change the channel; it is understood that, at this time, even if aircraft B does not change the channel, there is no risk of collision between aircraft B and aircraft a, and therefore, aircraft B does not need to change the channel. In fig. 17, when the aircraft B flies into the channel, and the distance between the aircraft a and the exit point D is M, the time T4 required for the aircraft a to fly to the exit point D and the time T5 required for the aircraft B to fly to the exit point D can be calculated, where T4= X _k ＝(Lk-(∧X+X))/V(k),T5＝X _k = (Lk-M)/Vmax (k); if T5 is greater than T4, the aircraft B is not permitted to make the course change. For example, the control platform may determine, according to the state information of the target aircraft and the aircraft desired to be transcended, a time required for the target aircraft to fly to the exit point of the travel route and a time required for the aircraft desired to be transcended to fly to the exit point, and if the time required for the target aircraft to fly to the exit point of the travel route is greater than the time required for the aircraft desired to be transcended to fly to the exit point, it indicates that the target aircraft is spaced sufficiently from the aircraft desired to be transcended, and the control platform may not allow the target aircraft to perform route transcended.

In step 1505, the target aircraft receives the channel change command and the information of the target passing through the channel sent by the control platform.

Illustratively, if the target aircraft has not received the channel change instruction sent by the regulatory platform over time, the default is that the channel override request is denied.

And step 1506, the target aircraft responds to the channel change instruction and carries out channel switching according to the information of the target exceeding the channel.

The process of performing the channel switching can refer to the related expression in step 1306, and is not described herein again.

In the embodiment of the application, a target aircraft sends channel override request information and second flight state information to a control platform, the control platform determines capacity information corresponding to a running channel according to the channel override request information and the second flight state information, the control platform sends a channel change instruction and target channel override information to the target aircraft under the condition that the capacity information corresponding to the override channel meets a second preset condition, and the target aircraft responds to the channel change instruction and switches channels according to the target channel override information; thereby achieving cruise control for the target aircraft. In some examples, the target aircraft may be a VTOL unmanned aircraft, enabling automatic lane overriding of the VTOL unmanned aircraft.

The following is an exemplary description of the implementation of automatic landing preparation for an aircraft.

FIG. 18 is a flow chart of another communication method according to an embodiment of the present application that may be applied to the air traffic control system shown in FIG. 6 described above; as shown in fig. 18, the method may include the steps of:

step 1801, when the target aircraft reaches the landing preparation point, the target aircraft sends landing preparation request information and third flight state information to the control platform.

Illustratively, when the target aircraft flies in a driving channel of a cruise airspace, the target aircraft reaches a landing preparation point and then sends landing preparation request information and third flight state information to the control platform.

Illustratively, the third flight status information may include: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft.

Step 1802, the control platform receives landing preparation request information and third flight state information sent by the target aircraft.

Step 1803, the control platform determines capacity information corresponding to the first transition channel according to the landing preparation request information and the third flight state information.

Wherein the first transition channel may be a cruise transition channel in the cruise domain. Exemplarily, after receiving the landing preparation request information, the control platform may determine the capacity information corresponding to the cruise transition channel according to the received flight state information of the aircraft in the cruise transition channel in the aviation area and the third flight state information; for example, the capacity information corresponding to the cruise transition channel adjacent to the channel where the target aircraft is located may be determined based on the identification of the channel where the target aircraft is located.

For example, the control platform may calculate current capacity information and standard capacity information of the cruise transition channel according to the above formulas (1) to (3) according to flight state information of each aircraft in the cruise transition channel; and determining the information of a protection interval corresponding to the cruise transition channel, the actual interval between each aircraft and the like.

And 1804, under the condition that the capacity information corresponding to the first transition channel meets a third preset condition, sending a channel change instruction and the information of the target first transition channel to the target aircraft by the control platform.

The third preset condition may refer to the related expression of the second preset condition in step 1504, which is not described herein again. The control platform can determine a target cruise transition channel, namely a target first transition channel, in each cruise transition channel.

Exemplarily, if the control platform allows the target aircraft to change the channel, the control platform sends a channel change instruction and information of a target first transition channel to the target aircraft; wherein the target first transition channel information may include: at least one of the identification of the target cruising transition channel, the speed corresponding to the target cruising transition channel and the time for changing the channel. Illustratively, a landing preparation rejection message is sent to the target aircraft if the regulatory platform does not allow the target aircraft to change course.

And step 1805, the target aircraft receives the channel change instruction sent by the control platform and the information of the target first transition channel.

Illustratively, if the target aircraft has not received a channel change instruction sent by the regulatory platform over time, the default is that the landing preparation request is denied.

And 1806, the target aircraft responds to the channel change instruction and performs channel switching according to the information of the target first transition channel.

For example, if the target aircraft fails to prepare for landing, the control platform may re-plan the flight path of the target aircraft.

For example, fig. 19 shows a schematic diagram of channel switching for landing preparation according to an embodiment of the present application, where E is a landing preparation point, R1 is an identifier of a driving channel where the target aircraft is currently located, and Vr' is a current speed of the target aircraft, as shown in fig. 19; r3 is the mark of the target transition channel, and Vt is the target speed corresponding to the target transition channel.

In the embodiment of the application, when a target aircraft reaches a landing preparation point, the target aircraft sends landing preparation request information and third flight state information to a control platform, the control platform determines capacity information corresponding to a first transition channel according to the landing preparation request information and the third flight state information, the control platform sends a channel change instruction and information of the target first transition channel to the target aircraft under the condition that the capacity information corresponding to the first transition channel meets a third preset condition, and the target aircraft responds to the channel change instruction and switches channels according to the information of the target first transition channel; thereby achieving the landing preparation control for the target aircraft. In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, thereby enabling automatic landing preparation of the vertical take-off and landing unmanned aircraft.

The following is an example of an aircraft for automatic landing.

FIG. 20 is a flow chart of another communication method according to an embodiment of the present application that may be applied to the air traffic control system shown in FIG. 6 described above; as shown in fig. 20, the method may include the steps of:

step 2001, sending landing request information and fourth flight state information to the control platform when the target aircraft is switched to the first transition channel.

For a detailed description of the target aircraft and the control platform, reference may be made to the step 1101, which is not described herein again. The airspace may include a landing airspace, which may be, for example, the landing airspace illustrated in FIGS. 9 (a) -9 (b) above.

For example, the target aircraft may send the landing request information and the fourth flight state information to the control platform after entering the cruise transition channel via the landing preparation point.

Illustratively, the fourth flight status information may include: at least one of the identification of the channel where the target aircraft is located, the speed of the target aircraft, and the position of the target aircraft;

in step 2002, the control platform receives the landing request information and the fourth flight state information sent by the target aircraft.

Illustratively, the regulatory platform may receive flight status information periodically transmitted by each aircraft within the descending airspace.

And step 2003, the control platform determines the capacity information corresponding to the second transition channel and the at least one landing channel according to the landing request information and the fourth flight state information.

The second transition channel is a landing transition channel of a landing airspace, and may be a circular landing transition channel, for example. For example, after receiving the landing request information, the control platform may determine, according to the received flight state information of each aircraft in the airspace area and the fourth flight state information, capacity information corresponding to the landing transition channel and capacity information corresponding to each landing channel; for example, the entry point of the landing airspace, the capacity information corresponding to the circular landing transition channel connected to the cruise transition channel, and the capacity information corresponding to each landing channel connected to the circular landing transition channel may be determined based on the identifier of the cruise transition channel where the target aircraft is located.

Illustratively, the control platform can calculate the current capacity information and the standard capacity information of the landing transition channel and the current capacity information and the standard capacity information of the landing channel according to the above formulas (1) to (3) according to the flight state information of each aircraft in the landing area; and determining the information of a protection interval corresponding to the landing transition channel, the actual interval between each aircraft and the like.

And step 2004, under the condition that the capacity information corresponding to the second transition channel and the at least one landing channel meets a fourth preset condition, the control platform sends a landing allowing instruction, information of the target landing channel, target landing point information and target second transition channel information to the target aircraft.

The fourth preset condition refers to the related expression of the second preset condition in step 1504, which is not described herein again. The control platform can determine a target landing transition channel in each landing transition channel, namely a target second transition channel; and determining a target landing channel in each landing channel, wherein the intersection point of the target landing channel and the target second transition channel is a target landing point.

Illustratively, if the control platform considers that the target aircraft can land, the control platform sends a landing allowing instruction and information of a target landing channel, target landing point information and target second transition channel information to the target aircraft; wherein the target second transition channel information may include: at least one of the identification of the target landing transition channel, the corresponding speed of the target landing transition channel and the time for changing the channel. The information of the target landing passage may include: and at least one of the identification of the target landing passage, the corresponding speed of the target landing passage and the allowable landing time. Illustratively, if the control platform considers the target aircraft not to be allowed to land, a landing rejection message is sent to the target aircraft.

Step 2005, the target aircraft receives the landing permission instruction, the information of the target landing channel, the information of the target landing point and the information of the target second transition channel sent by the control platform.

Illustratively, if the target aircraft has not received the command to allow landing sent by the regulatory platform over time, the request to land is denied by default.

In step 2006, the target aircraft flies to the target landing point via the target second transition channel in response to the landing permission instruction, and performs a landing action according to the information of the target landing channel.

Illustratively, after receiving the command of allowing landing, the target aircraft enters a first transition channel from an entry point, flies to a target landing point and then executes a landing action, and the target aircraft cannot cross the set airspace range of a landing channel during landing; for example, the target aircraft may enter the circular landing transition channel from the entry point E in fig. 9 (a) and fly to the target landing point A1, and perform a landing action on the landing channel corresponding to A1. For example, a landing completion message may be sent to the regulatory platform after the target aircraft has landed. Illustratively, if the target aircraft fails to complete the landing within the allowed time, sending a landing failure message to the regulatory platform; and if the control platform does not receive the channel landing completion message after time out, the default target aircraft fails to land, and the control platform can replan the flight path of the target aircraft.

In the embodiment of the application, after the target aircraft is switched to the first transition channel, the target aircraft sends landing request information and fourth flight state information to the control platform, the control platform determines capacity information corresponding to the second transition channel and at least one landing channel according to the landing request information and the fourth flight state information, and sends a landing allowing instruction, information of the target landing channel, target landing point information and target second transition channel information to the target aircraft under the condition that the capacity information corresponding to the second transition channel and the at least one landing channel meets a fourth preset condition, and the target aircraft flies to a target landing point through the target second transition channel in response to the landing allowing instruction and executes a landing action according to the information of the target landing channel; thereby achieving landing control for the target aircraft. In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, thereby enabling automatic landing of the vertical take-off and landing unmanned aircraft.

The following is an example of an aircraft implementing an automatic takeoff.

FIG. 21 is a flow diagram illustrating another method of communication according to an embodiment of the present application that may be applied to the air traffic control system shown in FIG. 6 described above; as shown in fig. 21, the method may include the steps of:

step 2101, under the condition that the target aircraft is located in the target takeoff channel, sending takeoff request information and a target takeoff channel identifier to the control platform.

For a detailed description of the target aircraft and the control platform, reference may be made to step 1101 described above, which is not repeated herein. The airspace may include a takeoff airspace, which may be, for example, the takeoff airspace described above in connection with fig. 10 (a) -10 (b).

For example, the target aircraft is located in a target takeoff channel, and when the target aircraft is ready to take off, takeoff request information and a target takeoff channel identifier may be sent to the control platform, and information such as a position of the target aircraft may also be sent.

Step 2102, the control platform receives takeoff request information sent by the target aircraft and a target takeoff channel identifier where the target aircraft is located.

Illustratively, the regulatory platform may receive flight status information periodically transmitted by each aircraft within the takeoff airspace.

And 2103, determining the capacity information corresponding to the third transition channel and the target takeoff channel by the control platform according to the takeoff request information and the target takeoff channel identifier.

The third transition channel is a takeoff transition channel of a takeoff airspace, and for example, the third transition channel can be a circular takeoff transition channel. Exemplarily, after receiving takeoff request information, the control platform may determine, according to the received flight state information of each aircraft in the takeoff airspace, capacity information corresponding to a takeoff transition channel and capacity information corresponding to a target takeoff channel; for example, according to the identifier of the target takeoff channel where the target aircraft is located, the capacity information corresponding to the target takeoff channel, the capacity information corresponding to the circular takeoff transition channel connected with the target takeoff channel, the exit point of the takeoff airspace, and the like can be determined.

Exemplarily, the control platform may calculate current capacity information and standard capacity information of the takeoff transition channel and current capacity information and standard capacity information of the target takeoff channel according to the above formulas (1) to (3) according to flight state information of each aircraft in the takeoff airspace; and determining information such as a protection interval corresponding to the takeoff transition channel, an actual interval between each aircraft and the like.

Step 2104, under the condition that the capacity information corresponding to the third transition channel and the target takeoff channel meets a fifth preset condition, the control platform sends a takeoff allowing instruction, information of the target takeoff channel, target takeoff point information and target third transition channel information to the target aircraft.

The fifth preset condition may refer to the related expression of the second preset condition in step 1504, which is not described herein again. The control platform can determine a target takeoff transition channel in each takeoff transition channel, namely a target third transition channel; and the intersection point of the target takeoff channel and the target third transition channel is a target takeoff point.

Exemplarily, if the control platform considers that the target aircraft can take off, sending a take-off allowing instruction, information of a target take-off channel, target flying point information and target third transition channel information to the target aircraft; wherein the target third transition channel information may include: at least one of the mark of the target takeoff transition channel, the corresponding speed of the target takeoff transition channel and the time for changing the channel. The information of the target takeoff channel may include: and the mark of the target takeoff channel, the corresponding speed of the target takeoff channel and at least one item of allowable takeoff time. Illustratively, if the control platform considers that the target aircraft does not allow takeoff, a takeoff rejection message is sent to the target aircraft.

And 2105, receiving the takeoff allowing instruction, the information of the target takeoff channel, the information of the target takeoff point and the information of the target third transition channel sent by the control platform by the target aircraft.

Illustratively, if the target aircraft does not receive the allowable takeoff instruction sent by the control platform after time out, the takeoff request is rejected by default.

In step 2106, the target aircraft responds to the takeoff allowing instruction, executes takeoff action according to the information of the target takeoff channel, and enters a third transition channel through the target takeoff point.

Exemplarily, the target aircraft executes takeoff immediately after receiving the takeoff allowing instruction, flies to a target takeoff point through a target takeoff channel, and cannot cross an airspace range set by the target takeoff channel during takeoff; then, the aircraft enters a third transition channel, flies to an exit point and enters a cruise transition channel; for example, the target aircraft may perform a takeoff operation from a takeoff channel corresponding to the target takeoff point B1 in fig. 10 (a), enter the circular ring landing transition channel through the target takeoff point B1, fly to the exit point F, and enter the cruise transition channel.

For example, a takeoff completion message may be sent to the regulatory platform after the target aircraft completes takeoff. Illustratively, if the target aircraft fails to finish the takeoff within the allowed time, a takeoff failure message is sent to the control platform, and then the takeoff request information is sent to the control platform again at the next moment.

In the embodiment of the application, a target aircraft is located in a target takeoff channel, when the target aircraft is ready to take off, takeoff request information and a target takeoff channel identifier are sent to a control platform, the control platform determines capacity information corresponding to a third transition channel and the target takeoff channel according to the takeoff request information and the target takeoff channel identifier, the control platform sends an allowable takeoff instruction, information of the target takeoff channel, target takeoff point information and target third transition channel information to the target aircraft under the condition that the capacity information corresponding to the third transition channel and the target takeoff channel meets a fifth preset condition, the target aircraft responds to the allowable takeoff instruction, executes takeoff action according to the information of the target takeoff channel, and enters the third transition channel through a target takeoff point; thereby realizing the takeoff control aiming at the target aircraft. In some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, thereby enabling automated take-off of the vertical take-off and landing unmanned aircraft.

Based on the same inventive concept of the above method embodiment, the embodiment of the present application further provides a communication device, which is configured to execute the technical solution described in the above method embodiment. For example, the steps shown in fig. 11, 13, 15, 18, 20, or 21 described above may be performed.

Fig. 22 shows a schematic structural diagram of a communication device according to an embodiment of the present application, which is applied to a target aircraft flying in an airspace, wherein the airspace includes: at least one of an overrun channel, a travel channel, and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the target aircraft to transition between a normal flight state and at least one of a take-off state, a hovering state and a descending state; as shown in fig. 22, the apparatus may include: a sending module 2201, configured to send flight information to a control platform; the regulatory platform is for managing at least one aircraft flying within the airspace region, the at least one aircraft including the target aircraft; the flight information is used for determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel; a response module 2202, configured to execute a corresponding flight action in response to the instruction sent by the regulation platform.

In embodiments of the present application, in some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, and the airspace region may be a low-altitude (e.g., below 1000 m) region; based on above-mentioned technical scheme, the aviation region can include: at least one of an overrun channel, a travel channel, and a transition channel; the target aircraft sends flight information to the control platform so that the control platform determines capacity information corresponding to at least one of an overrun channel, a driving channel and a transition channel, and the target aircraft responds to an instruction sent by the control platform to execute corresponding flight action under the condition that the capacity information meets a preset condition; thus realizing the air traffic control aiming at the vertical take-off and landing unmanned aerial vehicle. In some examples, the flight action may include take-off, diversion, landing, and the like; therefore, the vertical take-off and landing unmanned aerial vehicle can execute flight actions such as automatic take-off, automatic re-aviation or automatic landing, and the like, thereby realizing the ordered and efficient flight of the vertical take-off and landing unmanned aerial vehicle.

In one possible implementation, the flight information includes: first flight status information, the first flight status information comprising: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the response module 2202 is further configured to: receiving a channel change instruction sent by the control platform and information of a target driving channel; wherein the information of the target driving channel comprises: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel; and responding to the channel change instruction, and switching channels according to the information of the target driving channel.

In one possible implementation, the flight information includes: channel override request information and second flight state information; the response module 2202, further configured to: receiving a channel change instruction sent by the control platform and information of a target exceeding a channel; and responding to the channel change instruction, and switching channels according to the information of the target exceeding the channel.

In one possible implementation, the flight information includes: landing preparation request information and third flight state information; the transition channel comprises a first transition channel; the sending module 2201 is further configured to: when the target aircraft reaches a landing preparation point, sending the landing preparation request information and the third flight state information to the control platform; the response module 2202 is further configured to: receiving a channel change instruction sent by the control platform and information of a target first transition channel; and responding to the channel change instruction, and switching channels according to the information of the target first transition channel.

In one possible implementation, the flight information includes: landing request information and fourth flight state information; the transition channel comprises a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the sending module 2201 is further configured to: sending the landing request information and the fourth flight state information to the control platform under the condition that the target aircraft is switched to the first transition channel; the response module 2202, further configured to: receiving an allowable landing instruction, information of a target landing channel, information of a target landing point and information of a target second transition channel sent by the control platform; responding to the command allowing landing, flying to the target landing point through the target second transition channel, and executing a landing action according to the information of the target landing channel.

In one possible implementation, the transition corridor comprises a third transition corridor; the aviation area also comprises at least one takeoff channel and at least one takeoff point, wherein the takeoff point is the intersection point of the takeoff channel and the transition channel; the flight information includes: taking-off request information and a target taking-off channel identifier where the target aircraft is located; the sending module 2201 is further configured to: sending takeoff request information and the target takeoff channel identification to the control platform under the condition that the target aircraft is located in a target takeoff channel; the response module 2202 is further configured to: receiving a takeoff permission instruction, information of the target takeoff channel, information of a target takeoff point and information of a target third transition channel sent by the control platform; and responding to the takeoff allowing instruction, executing takeoff action according to the information of the target takeoff channel, and entering the third transition channel through the target flying starting point.

Fig. 23 shows a schematic structural diagram of another communication device according to an embodiment of the present application, applied to a regulatory platform for managing at least one aircraft flying within an airspace, the at least one aircraft including a target aircraft; wherein the aviation zone comprises: at least one of an overrun channel, a travel channel, and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the transition of the target aircraft between a normal flight state and at least one of a take-off state, a hovering state and a descending state; as shown in fig. 23, the apparatus includes: a receiving module 2301, configured to receive flight information sent by the target aircraft; a determining module 2302, configured to determine, according to the flight information, capacity information corresponding to at least one of the beyond channel, the driving channel, and the transition channel; an instruction module 2303, configured to send an instruction to the target aircraft when the capacity information satisfies a preset condition.

In embodiments of the present application, in some examples, the target aircraft may be a vertical take-off and landing unmanned aircraft, and the airspace region may be a low-altitude (e.g., below 1000 m) region; based on above-mentioned technical scheme, the aviation region can include: at least one of an overrun channel, a travel channel, and a transition channel; the control platform receives flight information sent by a target aircraft, determines capacity information corresponding to at least one of an overrun channel, a driving channel and a transition channel, and sends an instruction to the target aircraft so that the target aircraft can execute corresponding flight actions under the condition that the capacity information meets preset conditions; in this way, the control platform provides air traffic control service for the target aircraft, so that air traffic control for the unmanned vertical takeoff and landing aircraft is realized. In some examples, the flight action may include take-off, diversion, landing, and the like; therefore, the control platform can send instructions for executing flight actions such as automatic takeoff, automatic diversion or automatic landing to the vertical take-off and landing unmanned aerial vehicle, the vertical take-off and landing unmanned aerial vehicle can respond to the instructions and execute flight actions such as automatic takeoff, automatic diversion or automatic landing, and therefore ordered and efficient flight of the vertical take-off and landing unmanned aerial vehicle is achieved.

In one possible implementation, the flight information includes: first flight status information, the first flight status information comprising: at least one of a channel identification of a channel in which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the determining module 2302 is further configured to: determining capacity information corresponding to the driving channel according to the first flight state information; the instruction module 2303 is further configured to: under the condition that the capacity information corresponding to the running channel meets a first preset condition, sending a channel changing instruction and information of a target running channel to the target aircraft; wherein the target travel channel information includes: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel.

In one possible implementation, the flight information includes: channel override request information and second flight state information; the determining module 2302 is further configured to: determining capacity information corresponding to the overtaking channel according to the channel overtaking request information and the second flight state information; the instruction module 2303 is further configured to: and under the condition that the capacity information corresponding to the transcendental navigation channel meets a second preset condition, sending a navigation channel changing instruction and information of the target transcendental navigation channel to the target aircraft.

In one possible implementation, the flight information includes: landing preparation request information and third flight state information; the transition channel comprises a first transition channel; the determining module 2302 is further configured to: determining capacity information corresponding to the first transition channel according to the landing preparation request information and the third flight state information; the instruction module 2303 is further configured to: and under the condition that the capacity information corresponding to the first transition channel meets a third preset condition, sending a channel change instruction and information of a target first transition channel to the target aircraft.

In one possible implementation, the flight information includes: landing request information and fourth flight state information; the transition channel comprises a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the determining module 2302 is further configured to: determining the capacity information corresponding to the second transition channel and the at least one landing channel according to the landing request information and the fourth flight state information; the instruction module 2303, further configured to: and under the condition that the capacity information corresponding to the second transition channel and the at least one landing channel meets a fourth preset condition, sending a landing allowing instruction, information of a target landing channel, target landing point information and target second transition channel information to the target aircraft.

In one possible implementation, the transition corridor comprises a third transition corridor; the aviation area also comprises at least one takeoff channel and at least one takeoff point, wherein the takeoff point is the intersection point of the takeoff channel and the third transition channel; the flight information comprises takeoff request information and a target takeoff channel identifier where the target aircraft is located; the determining module 2302 is further configured to: determining the capacity information corresponding to the third transition channel and the target takeoff channel according to the takeoff request information and the target takeoff channel identifier; the instruction module 2303 is further configured to: and under the condition that the capacity information corresponding to the third transition channel and the target takeoff channel meets a fifth preset condition, sending a takeoff allowing instruction, the information of the target takeoff channel, the information of a target takeoff point and the information of a target third transition channel to the target aircraft.

In the above embodiments, for technical effects and specific descriptions of the communication apparatus and various possible implementations thereof, reference may be made to the above communication method, which is not described herein again.

It should be noted that the division of the modules of the above communication device is only a logical division, and all or part of the actual implementation may be integrated into one physical entity or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware.

An embodiment of the present application further provides a communication apparatus, including: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to implement the method of the above embodiment when executing the instructions. Illustratively, the methods illustrated in FIGS. 11, 13, 15, 18, 20, or 21 described above may be performed.

The embodiment of the present application does not limit the type of the communication apparatus. The communication means may be implemented in hardware, software or a combination of software and hardware.

Illustratively, the communication means may comprise hardware modules or software modules, e.g. may comprise one or more of the modules described above in fig. 22 or fig. 23.

Fig. 24 is a schematic structural diagram of a communication device according to an embodiment of the present application, and as shown in fig. 24, the communication device may include: a processor 2401, communication lines 2402, memory 2403, and communication interfaces 2404.

Processor 2401 may be a general-purpose Central Processing Unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling the execution of programs in accordance with the teachings of the present disclosure.

The communication lines 2402 may include a path for communicating information between the above components.

The communication interface 2404 may be any device, such as a transceiver, for communicating with other devices or communication networks, such as an ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), and the like. For example, in one example, the target aircraft may communicate with the regulatory platform via communication interface 2404, and in another example, the regulatory platform may communicate with the target aircraft via communication interface 2404.

The memory 2403 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that may store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that may store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be self-contained and coupled to the processor via communication line 2402. The memory may also be integral to the processor. The memory provided by the embodiment of the application can be generally nonvolatile. The memory 2403 is used for storing computer-executable instructions for executing the scheme of the application, and is controlled by the processor 2401 to execute. The processor 2401 is used to execute computer-executable instructions stored in the memory 2403 to implement the methods provided in the above-described embodiments of the present application. Illustratively, the corresponding flows of the methods illustrated in fig. 11, 13, 15, 18, 20, or 21 described above may be performed.

Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.

In particular implementations, processor 2401 may include one or more CPUs, such as CPU0 and CPU1 in fig. 24, as one embodiment.

In particular implementations, as an embodiment, the processing means may include a plurality of processors, such as the processor 2401 and the processor 2407 in fig. 24. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores that process data (e.g., computer program instructions).

In particular implementations, processing device may also include an output device 2405 and an input device 2406, as an embodiment. The output device 2405 is in communication with the processor 2401 and may display information in a variety of ways. For example, the output device 2405 may be a LiquID Crystal Display (LCD), a Light Emitting Diode (LED) display device, a Cathode Ray Tube (CRT) display device, a projector (projector), or the like. The input device 2406 is in communication with the processor 2401 and may receive user input in a variety of ways. For example, input device 2406 may be a mouse, keyboard, touch screen device, or sensing device, among others.

As an example, in conjunction with the communication device shown in fig. 24, the sending module 2201 and the responding module 2202 in fig. 22 can be implemented by the communication interface 2404 and the processor 2401 in fig. 24.

As another example, in conjunction with the communication device shown in fig. 24, the receiving module 2301 and the instruction module 2303 in fig. 23 may be implemented by the communication interface 2404 in fig. 24, and the determining module 2302 and the instruction module 2303 in fig. 23 may be implemented by the processor 2401 in fig. 24.

Embodiments of the present application provide a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

Embodiments of the present application provide a computer program product comprising computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an electronic device, the processor in the electronic device performs the above method.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an erasable Programmable Read-Only Memory (EPROM or flash Memory), a Static Random Access Memory (SRAM), a portable Compact Disc Read-Only Memory (CD-ROM), a Digital Versatile Disc (DVD), a Memory stick, a floppy disk, a mechanical coding device, a punch card or an in-groove protrusion structure, for example, having instructions stored thereon, and any suitable combination of the foregoing.

The computer readable program instructions or code described herein may be downloaded to the respective computing/processing device from a computer readable storage medium, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present application may be assembler instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of Network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry can execute computer-readable program instructions to implement aspects of the present application by utilizing state information of the computer-readable program instructions to personalize custom electronic circuitry, such as Programmable Logic circuits, field-Programmable Gate arrays (FPGAs), or Programmable Logic Arrays (PLAs).

Various aspects of the present application are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

It is also noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by hardware (e.g., a Circuit or an ASIC) for performing the corresponding function or action, or by combinations of hardware and software, such as firmware.

While the invention has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A communication method, characterized in that it is applied to a target aircraft flying in an aviation zone, wherein said aviation zone comprises: an overrun channel, a driving channel and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the target aircraft to transition between a normal flight state and at least one of a take-off state, a hovering state and a descending state;

the method comprises the following steps:

sending flight information to a control platform; the regulatory platform is for managing at least one aircraft flying within the airspace region, the at least one aircraft including the target aircraft; the flight information is used for determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel;

responding to the instruction sent by the control platform, and executing corresponding flight action;

the flight information includes: landing request information and fourth flight state information; the transition channel comprises a first transition channel and a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel;

the sending of the flight information to the regulatory platform comprises:

sending the landing request information and the fourth flight state information to the control platform under the condition that the target aircraft is switched to the first transition channel;

the corresponding flight action is executed in response to the instruction sent by the control platform, and the corresponding flight action comprises the following steps:

receiving an allowable landing instruction, information of a target landing channel, information of a target landing point and information of a target second transition channel sent by the control platform;

responding to the command allowing landing, flying to the target landing point through the target second transition channel, and executing a landing action according to the information of the target landing channel.

2. The method of claim 1, wherein the flight information comprises: first flight status information, the flight status information comprising: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft;

receiving a channel changing instruction sent by the control platform and information of a target driving channel; wherein the information of the target driving channel comprises: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel;

and responding to the channel change instruction, and switching channels according to the information of the target driving channel.

3. The method of claim 1 or 2, wherein the flight information comprises: channel override request information and second flight state information;

receiving a channel change instruction sent by the control platform and information of a target exceeding a channel;

responding to the channel changing instruction, and switching channels according to the information that the target exceeds the channel.

4. The method of claim 1, wherein the flight information comprises: landing preparation request information and third flight state information;

the sending of the flight information to the regulatory platform comprises:

when the target aircraft reaches a landing preparation point, sending the landing preparation request information and the third flight state information to the control platform;

receiving a channel change instruction sent by the control platform and information of a target first transition channel;

and responding to the channel changing instruction, and switching channels according to the information of the target first transition channel.

5. The method of claim 1, wherein the transition lane comprises a third transition lane; the aviation area also comprises at least one take-off channel and at least one take-off point, wherein the take-off point is the intersection point of the take-off channel and the transition channel; the flight information includes: taking-off request information and a target taking-off channel identifier where the target aircraft is located;

the sending of the flight information to the regulatory platform comprises:

sending takeoff request information and the target takeoff channel identification to the control platform under the condition that the target aircraft is located in a target takeoff channel;

receiving a take-off permission instruction, information of the target take-off channel, information of a target flying point and target third transition channel information sent by the control platform;

and responding to the takeoff allowing instruction, executing takeoff action according to the information of the target takeoff channel, and entering the third transition channel through the target flying starting point.

6. A communication method, characterized in that it is applied to a control platform for managing at least one aircraft flying within a airspace, said at least one aircraft including a target aircraft; wherein the aviation zone comprises: an overrun channel, a driving channel and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the target aircraft to transition between a normal flight state and at least one of a take-off state, a hovering state and a descending state;

the method comprises the following steps:

receiving flight information sent by the target aircraft;

determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information;

sending an instruction to the target aircraft when the capacity information meets a preset condition;

the determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information comprises:

under the condition that the target aircraft is switched to the first transition channel, determining capacity information corresponding to the second transition channel and at least one landing channel according to the landing request information and the fourth flight state information;

the sending of the instruction to the target aircraft when the capacity information meets a preset condition includes:

and under the condition that the capacity information corresponding to the second transition channel and at least one landing channel meets a fourth preset condition, sending a landing allowing instruction, information of a target landing channel, target landing point information and target second transition channel information to the target aircraft.

7. The method of claim 6, wherein the flight information comprises: first flight status information, the flight status information comprising: at least one of a channel identification of a channel in which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft;

determining capacity information corresponding to the driving channel according to the first flight state information;

under the condition that the capacity information corresponding to the running channel meets a first preset condition, sending a channel changing instruction and information of a target running channel to the target aircraft; wherein the target travel channel information includes: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel.

8. The method of claim 6 or 7, wherein the flight information comprises: channel override request information and second flight state information;

determining capacity information corresponding to the overtaking channel according to the channel overtaking request information and the second flight state information;

and under the condition that the capacity information corresponding to the transcendental navigation channel meets a second preset condition, sending a navigation channel changing instruction and information of the target transcendental navigation channel to the target aircraft.

9. The method of claim 6, wherein the flight information comprises: landing preparation request information and third flight state information; the transition channel comprises a first transition channel;

determining capacity information corresponding to the first transition channel according to the landing preparation request information and the third flight state information;

and sending a channel changing instruction and information of a target first transition channel to the target aircraft under the condition that the capacity information corresponding to the first transition channel meets a third preset condition.

10. The method of claim 6, wherein the transition lane comprises a third transition lane; the aviation area also comprises at least one take-off channel and at least one take-off point, wherein the take-off point is the intersection point of the take-off channel and the third transition channel; the flight information comprises takeoff request information and a target takeoff channel identifier where the target aircraft is located;

determining the capacity information corresponding to the third transition channel and the target takeoff channel according to the takeoff request information and the target takeoff channel identifier;

the sending of the instruction to the target aircraft under the condition that the capacity information of the aviation area meets the preset condition comprises the following steps:

and under the condition that the capacity information corresponding to the third transition channel and the target takeoff channel meets a fifth preset condition, sending a takeoff allowing instruction, information of the target takeoff channel, target flying point information and target third transition channel information to the target aircraft.

11. A communication device for use in a target aircraft flying in an airspace, wherein the airspace comprises: an overrun channel, a driving channel and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the target aircraft to transition between a normal flight state and at least one of a take-off state, a hovering state and a descending state;

the device comprises: the sending module is used for sending flight information to the control platform; the regulatory platform is for managing at least one aircraft flying within the airspace region, the at least one aircraft including the target aircraft; the flight information is used for determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel; the response module is used for responding to the instruction sent by the control platform and executing corresponding flight action;

the flight information includes: landing request information and fourth flight state information; the transition channel comprises a first transition channel and a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the sending module is further configured to: sending the landing request information and the fourth flight state information to the control platform under the condition that the target aircraft is switched to the first transition channel; the response module is further configured to: receiving a landing allowing instruction, target landing channel information, target landing point information and target second transition channel information sent by the control platform; responding to the command allowing landing, flying to the target landing point through the target second transition channel, and executing a landing action according to the information of the target landing channel.

12. The apparatus of claim 11, wherein the flight information comprises: first flight status information, the flight status information comprising: at least one of an identification of a channel on which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the response module is further configured to: receiving a channel changing instruction sent by the control platform and information of a target driving channel; wherein the information of the target driving channel comprises: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel; and responding to the channel change instruction, and switching channels according to the information of the target driving channel.

13. The apparatus of claim 11 or 12, wherein the flight information comprises: channel override request information and second flight state information; the response module is further configured to: receiving a channel change instruction sent by the control platform and information of a target exceeding a channel; and responding to the channel change instruction, and switching channels according to the information of the target exceeding the channel.

14. The apparatus of claim 11, wherein the flight information comprises: landing preparation request information and third flight state information; the sending module is further configured to: when the target aircraft reaches a landing preparation point, sending the landing preparation request information and the third flight state information to the control platform; the response module is further configured to: receiving a channel change instruction sent by the control platform and information of a target first transition channel; and responding to the channel change instruction, and switching channels according to the information of the target first transition channel.

15. The apparatus of claim 11, wherein the transition lane comprises a third transition lane; the aviation area also comprises at least one takeoff channel and at least one takeoff point, wherein the takeoff point is the intersection point of the takeoff channel and the transition channel; the flight information includes: taking-off request information and a target taking-off channel identifier where the target aircraft is located; the sending module is further configured to: sending takeoff request information and the target takeoff channel identification to the control platform under the condition that the target aircraft is located in a target takeoff channel; the response module is further configured to: receiving a takeoff permission instruction, information of the target takeoff channel, information of a target takeoff point and information of a target third transition channel sent by the control platform; and responding to the takeoff allowing instruction, executing takeoff action according to the information of the target takeoff channel, and entering the third transition channel through the target flying starting point.

16. A communication device, characterized in that it is applied to a control platform for managing at least one aircraft flying within a airspace, said at least one aircraft including a target aircraft; wherein the aviation zone comprises: an overrun channel, a driving channel and a transition channel; the flying speeds corresponding to the overrunning channel, the driving channel and the transition channel are reduced in sequence; wherein the override channel is used for the target aircraft to override other aircraft; the driving channel is used for normal flight of the target aircraft; the transition channel is used for the target aircraft to transition between a normal flight state and at least one of a take-off state, a hovering state and a descending state;

the device comprises: the receiving module is used for receiving flight information sent by the target aircraft; the determining module is used for determining capacity information corresponding to at least one of the overtaking channel, the driving channel and the transition channel according to the flight information; the instruction module is used for sending an instruction to the target aircraft under the condition that the capacity information meets a preset condition;

the flight information includes: landing request information and fourth flight state information; the transition channel comprises a first transition channel and a second transition channel; the aviation area also comprises at least one landing channel and at least one landing point, wherein the landing point is the intersection point of the landing channel and the second transition channel; the determining module is further configured to: under the condition that the target aircraft is switched to the first transition channel, determining capacity information corresponding to the second transition channel and at least one landing channel according to the landing request information and the fourth flight state information; the instruction module is further configured to: and under the condition that the capacity information corresponding to the second transition channel and the at least one landing channel meets a fourth preset condition, sending a landing allowing instruction, information of a target landing channel, target landing point information and target second transition channel information to the target aircraft.

17. The apparatus of claim 16, wherein the flight information comprises: first flight status information, the flight status information comprising: at least one of a channel identification of a channel in which the target aircraft is located, a speed of the target aircraft, and a position of the target aircraft; the determining module is further configured to: determining capacity information corresponding to the driving channel according to the first flight state information; the instruction module is further configured to: under the condition that the capacity information corresponding to the running channel meets a first preset condition, sending a channel changing instruction and information of a target running channel to the target aircraft; the target travel channel information includes: at least one of the identification of the target driving channel, the speed corresponding to the target driving channel and the time for changing the channel.

18. The apparatus of claim 16 or 17, wherein the flight information comprises: channel override request information and second flight state information; the determining module is further configured to: determining capacity information corresponding to the overtaking channel according to the channel overtaking request information and the second flight state information; the instruction module is further configured to: and under the condition that the capacity information corresponding to the transcendental navigation channel meets a second preset condition, sending a navigation channel changing instruction and information of the target transcendental navigation channel to the target aircraft.

19. The apparatus of claim 16, wherein the flight information comprises: landing preparation request information and third flight state information; the transition channel comprises a first transition channel; the determining module is further configured to: determining capacity information corresponding to the first transition channel according to the landing preparation request information and the third flight state information; the instruction module is further configured to: and under the condition that the capacity information corresponding to the first transition channel meets a third preset condition, sending a channel change instruction and information of a target first transition channel to the target aircraft.

20. The apparatus of claim 16, wherein the transition lane comprises a third transition lane; the aviation area also comprises at least one takeoff channel and at least one takeoff point, wherein the takeoff point is the intersection point of the takeoff channel and the third transition channel; the flight information comprises takeoff request information and a target takeoff channel identifier where the target aircraft is located; the determining module is further configured to: determining the capacity information corresponding to the third transition channel and the target takeoff channel according to the takeoff request information and the target takeoff channel identifier; the instruction module is further configured to: and under the condition that the capacity information corresponding to the third transition channel and the target takeoff channel meets a fifth preset condition, sending a takeoff allowing instruction, information of the target takeoff channel, target flying point information and target third transition channel information to the target aircraft.

21. A communications apparatus, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to carry out the instructions when executing the method of any one of claims 1 to 5 or the method of any one of claims 6 to 10.

22. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1-5 or the method of any of claims 6-10.