CN114550506B - Intelligent risk avoiding management method, device and equipment for training machine and storage medium - Google Patents
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Abstract
The application relates to a method, a device, equipment and a storage medium for intelligent risk avoidance management of a trainer, wherein the method comprises the following steps: acquiring flight information of the training plane, which is sent by all airborne terminals, wherein the flight information comprises positioning information, attitude information, speed information and equipment identification information of the training plane; calculating the flight tracks of all training machines in a preset three-dimensional coordinate system according to the flight information; if the overlapped parts exist in all the flight tracks, marking the overlapped parts of the flight tracks as risk spaces; acquiring corresponding position information of the risk space according to the position of the risk space in the three-dimensional coordinate system, wherein the position information comprises longitude and latitude information and altitude information; and displaying the position information of the risk space and the equipment identification information of the training machine passing through the risk space. The application has the technical effects that: the risk of collision of the training machine during training is reduced.
Description
Technical Field
The application relates to the field of aircrafts, in particular to an intelligent risk avoiding management method, device, equipment and storage medium for a training machine.
Background
Currently, an aircraft refers to an apparatus that flies in the atmosphere or out of the atmosphere space. Aircraft fall into 3 categories: aircraft, spacecraft, rockets, and missiles. Flying in the atmosphere is referred to as an aircraft, such as a balloon, airship, airplane, and the like. A training machine is one type of aircraft, typically a small helicopter, used by pilots to train flight skills.
The pilots drive training machines in training fields for training, and each training machine is provided with a trainer besides the flight crew for supervising and guiding flight training. Multiple training machines are usually trained simultaneously in the same training field.
With respect to the related art among the above, the inventors consider that the following drawbacks exist: in the training process of the training machines, due to the uncertainty of the flight track of each training machine and the fact that a plurality of training machines fly in the same training field, the risk of collision of the training machines is easy to occur, and casualties are caused.
Disclosure of Invention
In order to solve the problem that the risk of collision of training machines is easy to occur, the application provides an intelligent risk avoiding management method, device, equipment and storage medium for the training machines.
In a first aspect, the present application provides an intelligent risk-avoiding management method for a training machine, which adopts the following technical scheme:
acquiring flight information of the training aircraft sent by all airborne terminals, wherein the flight information comprises positioning information, attitude information, speed information and equipment identification information of the training aircraft;
calculating the flight tracks of all training machines in a preset three-dimensional coordinate system according to the flight information;
if all flight tracks have overlapped parts, marking the overlapped parts of the flight tracks as risk spaces;
acquiring position information corresponding to the risk space according to the position of the risk space in the three-dimensional coordinate system, wherein the position information comprises longitude and latitude information and altitude information;
and displaying the position information of the risk space and the equipment identification information of the training machine passing through the risk space.
By adopting the technical scheme, the control terminal can predict the flight track of the training machine in real time during training, predict the training machine with collision risk and the position of the risk space where the collision is likely to occur, and enable a commander at the control terminal to issue an instruction to the training machine in time so as to reduce the occurrence of collision accidents, thereby reducing the collision risk of the training machine during training.
Optionally, the marking of the coincident part of the flight trajectory as a risk space includes:
respectively calculating time points from the training machine corresponding to the flight trajectory to the overlapped part of the flight trajectory, and marking the calculated time as a risk time point;
respectively calculating the time difference between every two risk time points in all the risk time points;
and if the time difference value smaller than a preset time difference danger value exists in all the time difference values, marking the overlapped part of the flight trajectory as a risk space.
By adopting the technical scheme, in the training process, after the control terminal predicts that the coincident parts exist in all flight tracks, the time point of each training machine passing through the coincident parts is predicted, and if the time point with too short interval time exists, the condition that the training machines are likely to collide or interfere with each other is shown, so that the judgment on the risk space is more accurate.
Optionally, after the marking of the overlapped part of the flight trajectory as a risk space, the method further includes:
if the number of the time difference values smaller than the preset time difference danger value is 1, marking the training machine with the later danger time point in the two training machines corresponding to the time difference value as a laggard training machine;
adding a preset safety time difference to the risk time point corresponding to the lag trainer to obtain a first safety time point, wherein the safety time difference is greater than the time difference danger value;
calculating a first safety speed of the lagging training machine according to a time difference value between a current time point and the first safety time point and a distance between the lagging training machine and the risk space;
after the obtaining of the corresponding location information of the risk space according to the location of the risk space in the three-dimensional coordinate system, the method further includes:
and sending a first speed adjusting instruction to an airborne terminal corresponding to the lagging trainer so that the pilot can obtain the first speed adjusting instruction, wherein the first speed adjusting instruction comprises the first safe speed.
By adopting the technical scheme, after the control terminal predicts the risk space, if only two training machines have the risk of collision in the risk space, the first safety speed is calculated and sent to the laggard training machines, and after the pilot reduces the speed to the first safety speed, the laggard training machines can arrive at the risk space at about the first safety time point, so that the automatic management of the training machines with the risk of collision is completed.
Optionally, the marking the training machine with the later risk time point in the two training machines corresponding to the time difference value as the laggard training machine includes:
marking the training machine with the earlier risk time point in the two training machines corresponding to the time difference value as a leading training machine;
if the risk time point corresponding to the leading training machine is the earliest in all risk time points corresponding to the risk space, subtracting a preset safety time difference value from the risk time point corresponding to the leading training machine to obtain a second safety time point, wherein the safety time difference value is greater than the time difference danger value;
calculating a second safety speed of the leading training machine according to a time difference value between the current time point and the second safety time point and the distance from the leading training machine to the risk space;
after the obtaining of the corresponding location information of the risk space according to the location of the risk space in the three-dimensional coordinate system, the method further includes:
sending a second speed adjusting instruction to an airborne terminal corresponding to the leading training machine so that the pilot can obtain the second speed adjusting instruction, wherein the second speed adjusting instruction comprises the second safe speed;
and if the risk time point corresponding to the leading training machine is not the earliest in all the risk time points corresponding to the risk space, marking the training machine with the later risk time point in the two training machines corresponding to the time difference as a lagging training machine.
By adopting the technical scheme, after the control terminal predicts the risk space, if only two training machines have the risk of collision in the risk space and the faster training machine flying is the training machine passing through the risk space at the earliest time, the second safety speed is calculated and sent to the leading aircraft, after the pilot increases the speed to the second safety speed, the leading training machine can reach the risk space at about the second safety time point, and the training machine reaching the risk space earlier before the leading training machine does not exist, so that the leading aircraft is not easy to have the risk of collision with other aircraft after accelerating, and the possibility of causing new risk of collision when the control terminal automatically solves the risk of collision is reduced.
Optionally, after the sending the first speed adjustment instruction to the lag trainer, the method further includes:
acquiring flight information sent by the lag trainer through an airborne terminal for multiple times;
judging whether the speed information in all the acquired flight information is in a descending trend or not, if so, sending a speed adjustment success instruction to an airborne terminal corresponding to the lagging trainer;
otherwise, inquiring a flight task corresponding to the laggard training machine in a preset flight task database, wherein the flight task comprises terminal identification information corresponding to a communication terminal of a coach in the flight task;
and sending a speed adjustment alarm to the communication terminal according to the terminal identification information, wherein the speed adjustment alarm comprises a preset risk avoiding speed, and the preset risk avoiding speed is lower than the first safety speed.
By adopting the technical scheme, after the control terminal sends the first speed adjusting instruction, whether the driver reduces the speed according to the instruction is monitored, if not, the control terminal judges that the driver neglects the instruction or the corresponding training machine is abnormal, and the control terminal can automatically send an alarm to a coach on the training machine, so that the coach controls the training machine and reduces the speed emergently to reduce the possibility of accidents.
Optionally, after the sending the first speed adjustment instruction to the airborne terminal corresponding to the lag trainer, the method further includes:
if a risk time point later than the risk time point corresponding to the laggard training machine exists in the risk time points corresponding to the risk space, sending an acceleration prohibiting instruction to the training machine corresponding to the risk time point;
and after the laggard training machine passes through the risk space, sending a command for forbidding acceleration release to the training machine.
By adopting the technical scheme, after the control terminal sends the first speed adjusting instruction, if the training machines arrive at the risk space after the lagging training machine, the control terminal sends the acceleration prohibiting instruction to the subsequent training machines so as to reduce the possibility that the subsequent training machines suddenly accelerate to collide with the lagging training machines for deceleration and risk avoidance. After the laggard training plane flies through the risk space, the subsequent training plane can release the forbidding of acceleration.
Optionally, the method further includes:
receiving a navigation signal sent by a civil aircraft, wherein the navigation signal comprises a flight route and a speed;
calculating a flight track corresponding to the civil aircraft in the three-dimensional coordinate system according to the navigation signal;
if training machines with overlapped parts of the flight tracks and the civil aircraft exist, respectively marking the overlapped parts of the flight tracks of the training machines and the civil aircraft in the flight tracks of the civil aircraft, and generating a marked track corresponding to each training machine;
and sending an anti-collision reminder to each training machine, wherein the anti-collision reminder comprises reminder contents and mark tracks corresponding to the training machines, so that a driver of the training machine can know the anti-collision reminder.
By adopting the technical scheme, when the civil aircraft passes through the training field, the control terminal can automatically predict the training machine which is likely to collide or interfere with the civil aircraft, and send the anti-collision prompt to the corresponding training machine, so that the training machine is far away from the flight route of the civil aircraft, thereby reducing the possibility of collision and being beneficial to avoiding risks.
In a second aspect, the application provides an intelligent risk-avoiding management device for a training machine, which adopts the following technical scheme: the information acquisition module is used for acquiring flight information of the training machine sent by all airborne terminals, wherein the flight information comprises positioning information, attitude information, speed information and equipment identification information of the training machine;
the track calculation module is used for calculating the flight tracks of all the training machines in a preset three-dimensional coordinate system according to the flight information;
the space marking module is used for marking the overlapped parts of the flight trajectories as risk spaces if the overlapped parts exist in all the flight trajectories;
the position determining module is used for obtaining position information corresponding to the risk space according to the position of the risk space in the three-dimensional coordinate system, wherein the position information comprises longitude and latitude information and altitude information;
and the information display module is used for displaying the position information of the risk space and the equipment identification information of the training machine passing through the risk space.
By adopting the technical scheme, the control terminal can predict the flight track of the training machine in real time during training, predict the training machine with collision risk and the position of the risk space where the collision is likely to occur, and enable a commander at the control terminal to issue an instruction to the training machine in time so as to reduce the occurrence of collision accidents, thereby reducing the collision risk of the training machine during training.
In a third aspect, the present application provides a computer device, which adopts the following technical solution: the intelligent risk avoiding management system comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute any one of the intelligent risk avoiding management methods of the training machine.
By adopting the technical scheme, the control terminal can predict the flight track of the training machine in real time during training, predict the training machine with collision risk and the position of the risk space where the collision is likely to occur, and enable a commander at the control terminal to issue an instruction to the training machine in time so as to reduce the occurrence of collision accidents, thereby reducing the collision risk of the training machine during training.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions: a computer program is stored which can be loaded by a processor and which can perform any of the above-described methods of intelligent risk avoidance management for a training machine.
Through the technical scheme, during training, the control terminal can predict the flight track of the training machine in real time, predict the training machine with collision risk and the position of a risk space where collision is likely to occur, enable a commander at the control terminal to issue instructions to the training machine in time, reduce the occurrence of collision accidents, and reduce the collision risk of the training machine during training.
In summary, the present application includes at least one of the following beneficial technical effects:
1. during training, the control terminal can predict the flight track of the training machine in real time, and predict the training machine with collision risk and the position of a risk space where collision is likely to occur, so that a commander of the control terminal can issue instructions to the training machine in time to reduce the occurrence of collision accidents, thereby reducing the collision risk of the training machine during training;
2. after the control terminal sends the first speed adjusting instruction, if the training machines reach the risk space after the lagging training machine, the control terminal sends an acceleration prohibiting instruction to the subsequent training machines so as to reduce the possibility that the subsequent training machines suddenly accelerate to collide with the lagging training machines which are decelerated and risk-avoided. After the laggard training plane flies through the risk space, the subsequent training plane can release the forbidding of acceleration.
Drawings
Fig. 1 is a flowchart of an intelligent risk avoidance management method of a training machine according to an embodiment of the present application.
Fig. 2 is a block diagram of a training machine intelligent risk avoiding management device according to an embodiment of the present application.
Fig. 3 is a block diagram of an intelligent risk avoiding management device of a training machine according to another embodiment of the present application.
Fig. 4 is a block diagram of an intelligent risk avoiding management device of a training machine according to another embodiment of the present application.
Description of reference numerals: 20. an information acquisition module; 21. a trajectory calculation module; 22. a spatial labeling module; 23. a location determination module; 24. an information display module; 30. an information marking module; 31. a time calculation module; 32. a speed calculation module; 33. an information sending module; 40. an information receiving module; 41. a trajectory marking module; 42. and a prompt sending module.
Detailed Description
The application discloses an intelligent risk avoiding management method for a training machine. The method is based on an airborne terminal, a control terminal and a communication base station. The configuration of machine carries the terminal is fixed through sticky mode at the belly of training machine, avoids holing the rule and rule violation on the training machine on the one hand, and on the other hand is favorable to better and the communication base station communication on ground than setting up inside the training machine. The airborne terminal comprises: RTK module, communication module, gyroscope, inertial element and router. The RTK module is used to achieve positioning (longitude and latitude, altitude) of the aircraft. The communication direction of the communication module faces the ground and is used for being matched with a communication base station on the ground to realize the communication between the training machine and the ground. The gyroscope is used for acquiring the flight attitude of the training machine, and the inertial element is used for acquiring the speed of the training machine. The communication base station is arranged on the ground, and the ADS-B module is arranged on the communication base station and used for receiving signals sent by the civil aviation aircrafts. The airborne terminal is further connected with a router of the training machine, so that the training machine is internally provided with a wireless network, and intelligent equipment such as a mobile phone and a pad can be normally used. The control terminal is located in the command center and comprises a server and a display, the server is used for processing received data and transmitting information, and the display is used for displaying the information to remind a commander.
In one embodiment, as shown in fig. 1, an intelligent risk avoiding management method for a training machine is provided, which includes the following steps:
and S10, acquiring flight information of the training machines sent by all airborne terminals.
Specifically, the control terminal obtains flight information of the training aircraft in a flight state, which is sent by all airborne terminals, wherein the flight information comprises positioning information, attitude information, speed information and equipment identification information of the training aircraft. The positioning information comprises longitude and latitude information and altitude information, attitude information is flight attitude of the training machine, and the equipment identification information is unique identification of each training machine.
And S11, calculating the flight tracks of all the training machines in a preset three-dimensional coordinate system according to the flight information.
Specifically, the posture and the speed of the training machine can be determined, the action trend of the training machine can be determined, and the action track of the training machine can be predicted. The three-dimensional coordinate system may be a terrestrial coordinate system, and the corresponding three dimensions are: longitude, latitude, and altitude. According to the attitude, the speed and the positioning of the training machine, the flight track can be planned in the earth coordinate system.
And S12, marking a risk space.
Specifically, if there are overlapping portions in all flight trajectories, the overlapping portions of the flight trajectories are marked as a risk space, that is, more than one training opportunity passes through the risk space, and there is a risk of collision or mutual interference at the risk space.
And S13, acquiring corresponding position information of the risk space.
Specifically, the position information corresponding to the risk space can be obtained according to the position of the collision space in the three-dimensional coordinate system, and the position information includes longitude and latitude information and altitude information.
And S14, displaying the position information of the risk space and the equipment identification information of the training machine passing through the risk space.
Specifically, the control terminal displays the position information of the risk space and the equipment identification information of the training machines passing through the risk space on the corresponding displays. The staff of the command center can look up and see on the display and command the driver on the training machine in time.
In another embodiment, considering that the collision is hard to occur when the training machine arrives at the risk space at a longer time interval, S12 may further include: and respectively calculating the time points of the training machines to the overlapped part of the flight track, and marking the calculated time points as the risk time points corresponding to each training machine. Respectively calculating time difference values between every two risk time points in all the risk time points, and if the time difference values smaller than a preset time difference danger value exist, marking the overlapped part of the flight trajectory as a risk space; otherwise, the fact that the time points of the training machines passing through the overlapped part of the flight tracks are far different from each other and the risk of collision is not easy to exist indicates that the control terminal continues to monitor. The time difference risk value is preset by a worker, and can be 10 seconds. Thereby improving the accuracy of the risk space determination.
In another embodiment, considering that the commander needs to communicate with the corresponding pilot to reach the following command after seeing the risk space, which wastes more time, and the flight speed of the training machine is faster, which may affect the elimination of the dangerous case, after S12, the method may further include: if the number of the time difference values smaller than the preset time difference danger value is 1, namely only two training machines have the risk of collision in the risk space, the training machine with the later risk time point in the two training machines is marked as a laggard training machine. And adding a preset safety time difference value to the risk time point corresponding to the lagging trainer to obtain a first safety time point, wherein the safety time difference value is greater than the time danger difference value, namely, the time for the lagging trainer to reach the risk space is delayed backwards by the safety time difference value so as to reduce the possibility of collision. And the control terminal divides the distance from the laggard training machine to the risk space by the time difference value from the current time point to the first safety point to obtain a first safety speed corresponding to the laggard training machine. Then after S13, may include: and the control terminal sends a first speed adjusting instruction to an airborne terminal corresponding to the lagging trainer so that the pilot can obtain the first speed adjusting instruction and reduce the speed of the trainer to a first safe speed. The first speed adjustment instruction includes a first safe speed and instruction content. If the number of the time difference values smaller than the preset time difference danger value is not 1, namely three or more training machines have the risk of collision in the risk space, a deceleration instruction is sent to all flying training machines, so that the pilot slows down the speed of the training machines to the preset lowest speed to strive for processing time, and a safety alarm is displayed, so that the commander can command in time. The minimum speed is preset by the staff according to the situation of each training machine.
In another embodiment, considering that, in two training machines, if a training machine reaching the risk space first reaches the risk space in all training machines and a training machine may arrive after the training machine arrives, so that the speed of the training machine falling behind may cause a new collision risk, after the control terminal determines that the number of time difference values smaller than the preset time difference risk value is 1, the control terminal marks the training machine reaching the risk space first in the two training machines with the collision risk as a leading training machine, and determines whether the risk time point corresponding to the leading training machine is earliest in all risk time points corresponding to the risk space, if so, it indicates that the leading training machine reaches the risk space first in all training machines, the control terminal subtracts the preset safety time difference value from the risk time point corresponding to the leading training machine to obtain a second safety time point, the safety time difference value is greater than the time difference risk value, and the control terminal divides the distance from the leading training machine to the risk space by the time difference value between the current time point and the second safety time point to obtain a second safety speed corresponding to the leading training machine. Then after S13, it may include: and sending a second speed adjusting instruction to an airborne terminal corresponding to the leading training machine so that the pilot can obtain the second speed adjusting instruction, wherein the second speed adjusting instruction comprises a second safe speed and instruction content. After the pilot has adjusted the speed of the exercise machine to the second safe speed, the exercise machine may arrive at the risk space at approximately the second safe point in time. If the risk time point corresponding to the leading trainer is not the earliest of all the risk time points corresponding to the risk space, the trainer with the risk time point later of the two trainers corresponding to the time difference value is marked as the lagging trainer, and the subsequent steps are carried out as described in the previous embodiment.
In another embodiment, considering that there may be a case where the driver ignores the first speed adjustment instruction, after sending the first adjustment instruction, the control terminal may obtain the flight information sent by the training aircraft through the onboard terminal a plurality of times at a preset time period, where the preset time period may be 2 seconds. The control terminal judges whether the speed information corresponding to all the acquired flight information is in a descending trend or not, if so, a speed adjustment success instruction is sent to an airborne terminal corresponding to the lagging trainer, so that a pilot knows that the speed adjustment is successful; otherwise, inquiring a flight task corresponding to the out-of-date trainer in a preset flight task database, wherein the flight task comprises terminal identification information corresponding to a communication terminal of a trainer in the flight task. And the control terminal sends a speed adjustment alarm to the communication equipment of the coach according to the inquired terminal identification information, wherein the speed adjustment alarm comprises preset danger avoiding speed and alarm content. The danger avoiding speed is lower than the first safe speed, and the training machine can normally fly at the lowest speed set by the working personnel according to the condition of the training machine. Thereby reducing the possibility of a crash accident occurring due to the situation where the driver ignores the first speed adjustment instruction.
In another embodiment, considering that the civil aircraft may collide with the training machine when passing through the training field, the intelligent risk avoidance management method for the training machine further includes: the method comprises the steps of receiving a navigation signal sent by a civil aircraft, wherein the navigation signal comprises a flight route and a speed, the flight route of the civil aircraft is preset by a pilot before the pilot flies, and the flight route comprises longitude and latitude information and altitude information. Calculating a flight track corresponding to the civil aircraft in a terrestrial coordinate system according to the navigation signal, judging whether a training machine with a flight track overlapped with the flight track of the civil aircraft exists or not, if so, indicating that the risk of collision between the training machine and the civil aircraft exists, respectively marking the overlapped part of the flight track of each training machine and the flight track of the civil aircraft in the flight track of the civil aircraft to generate a marking track corresponding to each training machine, and then sending the anti-collision reminder to each training machine, wherein the anti-collision reminder comprises the reminding content and the marking track corresponding to each training machine, so that a driver of the training machine obtains the anti-collision reminder, avoids the flight track of the civil aircraft, and reduces the possibility of collision; otherwise, the civil aircraft and the training machine are continuously monitored.
According to the intelligent risk-avoiding management method for the training machine, the control terminal can automatically predict whether the training machine has a collision risk, and if the collision risk exists, the control terminal can send a corresponding speed adjusting instruction to the training machine according to the field condition so as to reduce the possibility that the training machine collides in a risk space. Meanwhile, the control terminal can automatically judge whether the risk of collision between the training machine and the civil aircraft exists according to the received navigation signal of the civil aircraft, and if so, an anti-collision prompt is automatically sent to a driver of the training machine so as to reduce the possibility of collision.
In one embodiment, as shown in fig. 2, there is provided an intelligent risk avoiding management device for a training machine, the device comprising:
the information acquisition module 20 is configured to acquire flight information of the training plane sent by all airborne terminals, where the flight information includes positioning information, attitude information, speed information, and device identification information of the training plane;
the track calculation module 21 is configured to calculate flight tracks of all the training machines in a preset three-dimensional coordinate system according to the flight information;
the space marking module 22 is configured to mark a coincident part of the flight trajectories as a risk space if the coincident part exists in all the flight trajectories;
the position determining module 23 is configured to obtain position information corresponding to the risk space according to a position of the risk space in the three-dimensional coordinate system, where the position information includes latitude and longitude information and altitude information;
and the information display module 24 is used for displaying the position information of the risk space and the equipment identification information of the training machine passing through the risk space.
In one embodiment, the spatial tagging module 22 is specifically configured to:
respectively calculating time points from the training machine corresponding to the flight trajectory to the overlapped part of the flight trajectory, and marking the calculated time as a risk time point;
respectively calculating the time difference between every two risk time points in all the risk time points;
and if the time difference value smaller than the preset time difference danger value exists in all the time difference values, marking the overlapped part of the flight trajectory as a risk space.
In one embodiment, as shown in fig. 3, the intelligent risk avoiding management device for a training machine further includes:
the information marking module 30 is configured to mark the trainer with the later risk time point of the two trainers corresponding to the time difference value as a laggard trainer if the number of the time difference values smaller than the preset time difference risk value is 1;
the time calculation module 31 is configured to add a preset safe time difference to the risk time point corresponding to the lag trainer to obtain a first safe time point, where the safe time difference is greater than the time difference risk value;
the speed calculation module 32 is configured to calculate a first safe speed of the lag trainer according to a time difference between a current time point and the first safe time point and a distance from the lag trainer to the risk space;
the information sending module 33 is configured to send a first speed adjustment instruction to an airborne terminal corresponding to the lag trainer, so that the pilot knows the first speed adjustment instruction, where the first speed adjustment instruction includes the first safe speed.
In one embodiment, the information labeling module 30 is further configured to label the training machine with the earlier risk time point of the two training machines corresponding to the time difference value as the leading training machine;
the time calculation module 31 is further configured to, if the risk time point corresponding to the leading training machine is the earliest among all risk time points corresponding to the risk space, subtract a preset safety time difference value from the risk time point corresponding to the leading training machine to obtain a second safety time point, where the safety time difference value is greater than the time difference risk value;
the speed calculation module 32 is further configured to calculate a second safe speed of the leading training machine according to a time difference between the current time point and the second safe time point and a distance from the leading training machine to the risk space;
the information sending module 33 is further configured to send a second speed adjustment instruction to the airborne terminal corresponding to the leading training machine, so that the pilot knows the second speed adjustment instruction, where the second speed adjustment instruction includes the second safe speed;
the information labeling module 30 is further configured to label, if the risk time point corresponding to the leading trainer is not the earliest in all risk time points corresponding to the risk space, the trainer with the later risk time point in the two trainers corresponding to the time difference as the lagging trainer.
In one embodiment, after the sending the first speed adjustment instruction to the lag trainer, the method further comprises:
the information acquisition module 20 is further configured to acquire flight information sent by the lag trainer through the airborne terminal for multiple times;
the information sending module 33 is further configured to determine whether the speed information in all the acquired flight information is in a descending trend, and if so, send a speed adjustment success instruction to an airborne terminal corresponding to the laggard training aircraft;
otherwise, inquiring a flight task corresponding to the laggard training plane in a preset flight task database, wherein the flight task comprises terminal identification information corresponding to a communication terminal of a coach in the flight task;
the information sending module 33 is further configured to send a speed adjustment alarm to the communication terminal according to the terminal identification information, where the speed adjustment alarm includes a preset risk avoiding speed, and the preset risk avoiding speed is lower than the first safety speed.
In an embodiment, the information sending module 33 is further configured to send an acceleration prohibiting instruction to the training machine corresponding to the risk time point if a risk time point later than the risk time point corresponding to the laggard training machine exists in the risk time points corresponding to the risk space;
the information sending module 33 is further configured to send an acceleration prohibition release instruction to the training machine after the laggard training machine passes through the risk space.
In one embodiment, as shown in fig. 4, the intelligent risk avoiding management device for a training machine further includes:
the information receiving module 40 is used for receiving a navigation signal sent by a civil aircraft, wherein the navigation signal comprises a flight route and a speed;
the track calculation module 21 is further configured to calculate a flight track corresponding to the civil aircraft in the three-dimensional coordinate system according to the navigation signal;
a track marking module 41, configured to mark, if there is a training machine whose flight track and the flight track of the civil aircraft have an overlapped portion, a portion where the flight track of each training machine overlaps the flight track of the civil aircraft in the flight tracks of the civil aircraft, respectively, and generate a marking track corresponding to each training machine;
and the reminding sending module 42 is configured to send an anti-collision reminder to each training machine, where the anti-collision reminder includes a reminder content and a mark track corresponding to each training machine, so that a driver of the training machine can know the anti-collision reminder.
In one embodiment, a computer device is provided.
Specifically, the computer device comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the intelligent risk avoidance management method of the training machine.
In one embodiment, a computer-readable storage medium is provided.
Specifically, the computer-readable storage medium stores a computer program that can be loaded by a processor and executes the training machine intelligent risk avoidance management method, and the computer-readable storage medium includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications without inventive contribution to the present embodiment as required after reading the present specification, but all of them are protected by patent law within the scope of the present invention.
Claims (7)
1. An intelligent risk avoiding management method for a training machine is characterized by comprising the following steps:
acquiring flight information of the training aircraft sent by all airborne terminals, wherein the flight information comprises positioning information, attitude information, speed information and equipment identification information of the training aircraft;
calculating the flight tracks of all training machines in a preset three-dimensional coordinate system according to the flight information;
if all flight tracks have overlapped parts, marking the overlapped parts of the flight tracks as risk spaces;
obtaining position information corresponding to the risk space according to the position of the risk space in the three-dimensional coordinate system, wherein the position information comprises longitude and latitude information and altitude information;
displaying the position information of the risk space and the equipment identification information of the training machine passing through the risk space;
said marking of coincident portions of the flight trajectory as risk spaces comprises:
respectively calculating time points from the training machine corresponding to the flight trajectory to the overlapped part of the flight trajectory, and marking the calculated time as a risk time point;
respectively calculating the time difference between every two risk time points in all the risk time points;
if the time difference value smaller than a preset time difference danger value exists in all the time difference values, marking the overlapped part of the flight trajectory as a risk space;
after said marking the coincident portion of the flight trajectory as a risk space, further comprising:
if the number of the time difference values smaller than the preset time difference danger value is 1, marking the training machine with the later danger time point in the two training machines corresponding to the time difference value as a laggard training machine;
adding a preset safety time difference to the risk time point corresponding to the lag trainer to obtain a first safety time point, wherein the safety time difference is greater than the time difference danger value;
calculating a first safety speed of the lagging training machine according to a time difference value between a current time point and the first safety time point and a distance between the lagging training machine and the risk space;
after the obtaining of the corresponding location information of the risk space according to the location of the risk space in the three-dimensional coordinate system, the method further includes:
sending a first speed adjusting instruction to an airborne terminal corresponding to the lag trainer so that a pilot can obtain the first speed adjusting instruction, wherein the first speed adjusting instruction comprises the first safe speed;
the marking of the training machine with the later risk time point in the two training machines corresponding to the time difference value as the laggard training machine comprises the following steps:
marking the training machine with the earlier risk time point in the two training machines corresponding to the time difference value as a leading training machine;
if the risk time point corresponding to the leading training machine is the earliest in all risk time points corresponding to the risk space, subtracting a preset safety time difference value from the risk time point corresponding to the leading training machine to obtain a second safety time point, wherein the safety time difference value is greater than the time difference danger value;
calculating a second safety speed of the leading training machine according to a time difference value between the current time point and the second safety time point and the distance from the leading training machine to the risk space;
after obtaining the corresponding position information of the risk space according to the position of the risk space in the three-dimensional coordinate system, the method further comprises the following steps:
sending a second speed adjusting instruction to an airborne terminal corresponding to the leading training machine so that the pilot can obtain the second speed adjusting instruction, wherein the second speed adjusting instruction comprises the second safe speed;
and if the risk time point corresponding to the leading training machine is not the earliest in all the risk time points corresponding to the risk space, marking the training machine with the later risk time point in the two training machines corresponding to the time difference as a lagging training machine.
2. The method of claim 1, further comprising, after the sending the first speed adjustment instruction to the laggard trainer:
acquiring flight information sent by the lag trainer through an airborne terminal for multiple times;
judging whether the speed information in all the acquired flight information is in a descending trend or not, and if so, sending a speed adjusting success command to an airborne terminal corresponding to the laggard training plane;
otherwise, inquiring a flight task corresponding to the laggard training machine in a preset flight task database, wherein the flight task comprises terminal identification information corresponding to a communication terminal of a coach in the flight task;
and sending a speed adjustment alarm to the communication terminal according to the terminal identification information, wherein the speed adjustment alarm comprises a preset risk avoiding speed, and the preset risk avoiding speed is lower than the first safety speed.
3. The method according to claim 1, further comprising, after the sending the first speed adjustment instruction to the on-board terminal corresponding to the lag trainer:
if a risk time point later than the risk time point corresponding to the laggard training machine exists in the risk time points corresponding to the risk space, sending an acceleration prohibiting instruction to the training machine corresponding to the risk time point;
and after the laggard training machine passes through the risk space, sending a command for forbidding acceleration release to the training machine.
4. The method of claim 1, further comprising:
receiving a navigation signal sent by a civil aircraft, wherein the navigation signal comprises a flight route and a speed;
calculating a flight track corresponding to the civil aircraft in the three-dimensional coordinate system according to the navigation signal;
if training machines with overlapped parts of the flight tracks and the civil aircraft exist, respectively marking the overlapped parts of the flight tracks of the training machines and the civil aircraft in the flight tracks of the civil aircraft, and generating a marked track corresponding to each training machine;
and sending an anti-collision reminder to each training machine, wherein the anti-collision reminder comprises reminder contents and mark tracks corresponding to the training machines, so that a driver of the training machine can know the anti-collision reminder.
5. The utility model provides a dangerous management device is kept away to training machine intelligence, its characterized in that, the device includes:
the information acquisition module (20) is used for acquiring flight information of the training machine sent by all airborne terminals, wherein the flight information comprises positioning information, attitude information, speed information and equipment identification information of the training machine;
the track calculation module (21) is used for calculating the flight tracks of all the training machines in a preset three-dimensional coordinate system according to the flight information;
the space marking module (22) is used for marking the overlapped part of the flight tracks as a risk space if the overlapped part exists in all the flight tracks;
the position determining module (23) is used for obtaining position information corresponding to the risk space according to the position of the risk space in the three-dimensional coordinate system, and the position information comprises longitude and latitude information and altitude information;
the information display module (24) is used for displaying the position information of the risk space and the equipment identification information of the training machine passing through the risk space;
a spatial labeling module (22), in particular for:
respectively calculating time points from the training machine corresponding to the flight trajectory to the overlapped part of the flight trajectory, and marking the calculated time as a risk time point;
respectively calculating the time difference between every two risk time points in all the risk time points;
if the time difference value smaller than a preset time difference danger value exists in all the time difference values, marking the overlapped part of the flight trajectory as a risk space;
the risk management device is kept away to training machine intelligence still includes:
the information marking module (30) is used for marking the training machine with the later risk time point in the two training machines corresponding to the time difference value as a laggard training machine if the number of the time difference value smaller than the preset time difference risk value is 1;
the time calculation module (31) is used for adding a preset safe time difference value to the risk time point corresponding to the lag trainer to obtain a first safe time point, and the safe time difference value is greater than the time difference danger value;
the speed calculation module (32) is used for calculating a first safe speed of the lag trainer according to a time difference value between a current time point and the first safe time point and the distance between the lag trainer and the risk space;
the information sending module (33) is used for sending a first speed adjusting instruction to an airborne terminal corresponding to the lag trainer so that a pilot can obtain the first speed adjusting instruction, and the first speed adjusting instruction comprises the first safe speed;
the information marking module (30) is further used for marking the training machine with the earlier risk time point in the two training machines corresponding to the time difference value as a leading training machine;
the time calculation module (31) is further configured to subtract a preset safety time difference value from the risk time point corresponding to the leading training machine to obtain a second safety time point if the risk time point corresponding to the leading training machine is the earliest in all risk time points corresponding to the risk space, and the safety time difference value is greater than the time difference risk value;
the speed calculation module (32) is further used for calculating a second safe speed of the leading training machine according to a time difference value between the current time point and the second safe time point and the distance from the leading training machine to the risk space;
the information sending module (33) is further configured to send a second speed adjustment instruction to the airborne terminal corresponding to the leading training machine, so that the pilot knows the second speed adjustment instruction, and the second speed adjustment instruction includes the second safe speed;
and the information marking module (30) is further used for marking the trainer with the later risk time point in the two trainers corresponding to the time difference value as the laggard trainer if the risk time point corresponding to the leading trainer is not the earliest in all risk time points corresponding to the risk space.
6. A computer device comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any of claims 1 to 4.
7. A computer-readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which executes a method according to any one of claims 1 to 4.
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