CN116913136A - Unmanned aerial vehicle airway network based on variable three-dimensional electronic fence technology - Google Patents

Abstract

The invention discloses a UAV route network based on variable three-dimensional electronic fence technology, including a main route and a branch route; the main route is composed of one or more routes in different directions; the branch route is used to connect Take-off and landing points and trunk routes; when the trunk routes intersect, they are connected by trunk route intersection components; when the trunk routes and branch routes intersect, they are connected by trunk routes and branch routes connecting members; the trunk routes, branch routes, and trunk routes The route intersection components and the main route and branch route connection components are respectively composed of channels with closed three-dimensional spaces built based on variable three-dimensional electronic fence technology; compared with exclusive point-to-point routes, this invention greatly saves airspace resources and also This improves the traffic efficiency of drones and has a wider range of applications.

Description

A UAV route network based on variable three-dimensional electronic fence technology

Technical field

The invention belongs to the technical field related to UAV airspace management, and specifically relates to a variable stereoscopic method based on a variable stereoscopic method that greatly saves airspace resources and improves the traffic efficiency of UAVs compared with the exclusive point-to-point route. Drone route network with electronic fence technology.

Background technique

With the breakthrough development and popularization of drone industry technology, drones are used in more and more scenarios; according to the functions of drones, they can be divided into consumer-grade drones and functional drones; consumer-grade drones Such as using drones for aerial photography; functional drones, such as agricultural drones used to spray pesticides and kill insects, drones used to assist in directing traffic; police drones, etc.; during use of these drones Due to the uncertainty of terrain and landforms, the drone needs to determine the navigation route and altitude during navigation. It is necessary to avoid prohibited areas and altitudes within the navigation area to ensure the normal operation of the drone. run.

The low-altitude economy is a comprehensive economic form that is driven by various low-altitude flight activities of various manned and unmanned aircraft and radiates the integrated development of related fields. The low-altitude area usually refers to the vertical distance from the ground level directly below, which is in principle within 3,000 meters. the following.

When developing low-altitude economy, safety is the bottom line; due to the lack of electronic maps dedicated to drones, there is actually a lack of technical means for precise navigation of drones.

Chinese patent application 2022111029811 discloses a variable three-dimensional electronic fence and its establishment method.

To this end, we have developed a UAV route based on variable three-dimensional electronic fence technology that has a wider application range than the exclusive point-to-point route, which greatly saves airspace resources and improves the traffic efficiency of drones. network.

Contents of the invention

The purpose of the present invention is to provide a UAV route based on variable three-dimensional electronic fence technology that has a wider application range than the exclusive point-to-point route, which greatly saves airspace resources and also improves the traffic efficiency of UAVs. network.

To achieve the above objectives, the present invention provides the following technical solution: a UAV route network based on variable three-dimensional electronic fence technology, including a main route and a branch route; the main route is composed of one or more routes in different directions. ; The branch route is used to connect the take-off and landing points and the trunk route; when the trunk routes intersect, the trunk route intersection component is used to connect; when the trunk route and the branch route intersect, the trunk route and the branch route connection component are used to connect; so The main routes, branch routes, main route intersection components and main route and branch route connection components are respectively composed of channels with closed three-dimensional spaces built based on variable three-dimensional electronic fence technology.

Preferably, a buffer zone is provided outside each waterway; the buffer zone is an area with a closed three-dimensional space constructed based on the variable three-dimensional electronic fence technology.

Preferably, the trunk route follows the right-flying principle and has two-way multiple channels constructed by variable three-dimensional electronic fences. The channels are composed of routes, variable three-dimensional electronic fences and buffer zones, that is, they are composed of variable three-dimensional electronic fences. Electronic fences respectively construct closed three-dimensional spaces that wrap the routes; using variable three-dimensional electronic fence technology and safety supervision methods, drones inside and outside the channel can be controlled; that is, drones within the channel cannot fly out of the channel at will. , UAVs outside the channel cannot fly into the channel.

Preferably, the waterway is constructed based on variable three-dimensional electronic fence technology and has a closed three-dimensional space.

Preferably, the trunk route intersection component is in the shape of a turntable; the component is composed of a route, a variable three-dimensional electronic fence, and a buffer zone; the component is a closed loop formed by connecting the routes end to end, and then a three-dimensional circle constructed based on the variable three-dimensional electronic fence technology. Disc-shaped component; converts UAVs flying in multiple directions into flying in the same direction until they turn to the required direction and leave, avoiding conflicts when UAVs switch between main routes.

Preferably, the channels of the branch routes are generally narrower than those of the trunk routes, which is conducive to connecting the take-off and landing points and the trunk routes in a limited space.

Preferably, the operation direction of the branch route is two-way operation. The end of the branch route is connected to the take-off and landing point, and the other end is connected to the two-way route of the main route through a bifurcated structure, so that the main route and the branch route can be realized. interconnection.

Compared with the existing technology, the present invention provides a UAV route network based on variable three-dimensional electronic fence technology, which has the following beneficial effects:

The UAV route network based on the variable three-dimensional electronic fence technology of the present invention connects the main route and the branch route to form an interconnected route network. Compared with the exclusive point-to-point route, it greatly saves airspace resources and simultaneously It also improves the traffic efficiency of drones and has a wider range of applications.

Description of the drawings

The accompanying drawings are used to provide a further understanding of the present invention and form a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

Figure 1 is a schematic plan view of a flight segment of an example of a trunk route of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention;

Figure 2 is a schematic cross-sectional view of a channel of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention;

Figure 3 is a schematic diagram of the main route intersection components of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention;

Figure 4 is a schematic diagram of the main route intersection component of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention when it is connected to the main route;

Figure 5 is a schematic diagram of the first usage method when the main route intersection component of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention is connected to the main route;

Figure 6 is a schematic diagram of the second usage method when the main route intersection component of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention is connected to the main route;

Figure 7 is a schematic diagram of the third usage method when the main route intersection component of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention is connected to the main route;

Figure 8 is a schematic diagram of the fourth usage method when the main route intersection component of the UAV route network based on the variable three-dimensional electronic fence technology of the present invention is connected to the main route;

Figure 9 is a schematic diagram of the connection between the main route and the branch route of the UAV route network based on the variable three-dimensional electronic fence technology according to the present invention.

Implementation

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them; based on The embodiments of the present invention and all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Please refer to Figures 1-9. The present invention provides a technical solution: a UAV route network based on variable three-dimensional electronic fence technology, including a main route and a branch route; the main route does not refer to a specific route, and generally It is composed of one or more waterways in different directions. The main route is airworthy for continuous flight of multiple types of UAVs, and has the characteristics of large flow, relatively high and wide routes, and continuous operation of UAVs; the branch line The air route is used to connect the take-off and landing points and the main air route; when the main air routes intersect, the main air route intersection components are used to connect; when the main air routes and branch air routes intersect, the main air routes and branch air routes are connected using the main air route and branch air route connecting members; the main air routes, The branch routes, main route intersection components and main route and branch route connection components are respectively composed of channels with a closed three-dimensional space built based on variable three-dimensional electronic fence technology; each channel is also equipped with a buffer zone on the outside; the buffer A zone is an area with a closed three-dimensional space built based on variable three-dimensional electronic fence technology.

As shown in Figure 1, it is a flight section plan view of an example of the main route. The main route follows the right-hand flight principle and has two-way multiple routes constructed by variable three-dimensional electronic fences. The routes are respectively composed of routes. , variable three-dimensional electronic fence and buffer zone, that is, the variable three-dimensional electronic fence constructs a closed three-dimensional space that wraps the route; using the variable three-dimensional electronic fence technology and safety supervision means, it is possible to realize the control of unmanned vehicles inside and outside the waterway. The drones are controlled by the aircraft; that is, drones within the channel cannot fly out of the channel at will, and drones outside the channel cannot fly into the channel.

As shown in Figure 2, it is a cross-sectional view of the waterway. The waterway is a closed three-dimensional space built based on variable three-dimensional electronic fence technology.

As shown in Figure 3, the trunk route intersection component is in the shape of a turntable; this component is composed of a route, a variable three-dimensional electronic fence, and a buffer zone (not shown); this component connects the routes end to end to form a closed loop, and then based on the A three-dimensional disc-shaped component constructed with variable three-dimensional electronic fence technology; it converts UAVs flying in multiple directions into flying in the same direction until they turn to the desired direction and leave, avoiding conflicts when UAVs switch between trunk routes. .

As shown in Figure 4, when the main route intersection component is connected to the main route, it is connected to the main routes in the four directions of southeast, northwest and northwest to form the intersection of the main routes. When the UAV in any direction switches to the main route, This component can be used to achieve continuous operation and relatively high-speed passage (the diameter of the component can be adjusted according to the performance of the UAV and the navigability speed of the main route so that the UAV can pass at the maximum turning radius) and the switching of the main route at the same time It will not affect other drones on the main route.

As shown in Figure 5, when a UAV in any direction turns right to switch to the main route, it only needs to follow the "right turn trajectory" to switch.

As shown in Figure 6, when a UAV in any direction turns left to switch to the main route, it only needs to follow the "left turn trajectory" to switch.

As shown in Figure 7, when a UAV in any direction switches to a straight route and switches to a main route, it only needs to follow the "straight trajectory" to switch.

As shown in Figure 8, when a UAV in any direction switches between different routes on the same main route, it only needs to follow the "U-turn trajectory" to switch.

The channels of the branch routes are generally narrower than those of the trunk routes, which is conducive to connecting the take-off and landing points and the trunk routes in a limited space; as shown in Figure 9, the operation direction of the branch routes is two-way operation, usually the branch route One end is connected to the take-off and landing point, and the other end is connected to the two-way channel of the main route through a bifurcated structure, thereby realizing the interconnection of the main route and the branch route.

Compared with the prior art, the present invention has the following beneficial effects:

The UAV route network based on the variable three-dimensional electronic fence technology of the present invention connects the main route and the branch route to form an interconnected route network. Compared with the exclusive point-to-point route, it greatly saves airspace resources and simultaneously It also improves the traffic efficiency of drones and has a wider range of applications.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. An unmanned aerial vehicle route network based on variable three-dimensional electronic fence technique, its characterized in that: the system comprises a main route and a branch route; the main navigation path consists of one or more navigation paths in different directions; the branch road is used for connecting the take-off and landing points and the main road; the main navigation way intersection components are adopted for connection when the main navigation ways are intersected; when the trunk route and the branch route are intersected, the trunk route is connected with a branch route connecting component; the main road, the branch road, the main road intersection component and the main road and branch road connecting component are respectively formed by a channel with a closed three-dimensional space constructed based on a variable three-dimensional electronic fence technology.

2. The unmanned aerial vehicle airway network based on the variable stereoscopic electronic fence technique of claim 1, wherein: the outside of each channel is also provided with a buffer zone respectively; the buffer zone is an area with a closed stereoscopic space constructed based on a variable stereoscopic electronic fence technology.

3. The unmanned aerial vehicle airway network based on the variable stereoscopic electronic fence technique of claim 1, wherein: the main navigation path is provided with a plurality of two-way channels respectively constructed by the variable three-dimensional electronic fences according to the principle of right-hand flight, wherein the channels respectively consist of the navigation path, the variable three-dimensional electronic fences and a buffer zone, namely, the variable three-dimensional electronic fences respectively construct a closed three-dimensional space for wrapping the navigation path; the unmanned aerial vehicle inside and outside the channel can be controlled by utilizing a variable three-dimensional electronic fence technology and a safety supervision means; that is, unmanned aerial vehicles in the channel cannot fly out of the channel at will, and unmanned aerial vehicles outside the channel cannot fly into the channel.

4. The unmanned aerial vehicle airway network based on the variable stereoscopic electronic fence technique of claim 1, wherein: the channel is constructed based on a variable stereoscopic electronic fence technology and has a closed stereoscopic space.

5. The unmanned aerial vehicle airway network based on the variable stereoscopic electronic fence technique of claim 1, wherein: the main navigation way intersection component is in a turntable shape; the component consists of a route, a variable three-dimensional electronic fence and a buffer zone; the member is a three-dimensional disk-shaped member constructed based on a variable three-dimensional electronic fence technology, wherein the three-dimensional disk-shaped member is formed by connecting the end of a route to the end of the route; the unmanned aerial vehicle flying in multiple directions is converted into the same direction to fly until the unmanned aerial vehicle turns to the required direction and leaves, so that the conflict of the unmanned aerial vehicle when the main route is switched is avoided.

6. The unmanned aerial vehicle airway network based on the variable stereoscopic electronic fence technique of claim 1, wherein: the branch channel is generally narrower than the main channel, which is beneficial to connecting the take-off and landing point and the main channel in a limited space.

7. The unmanned aerial vehicle airway network based on the variable stereoscopic electronic fence technique of claim 6, wherein: the running direction of the branch road is bidirectional running, the tail end of the branch road is connected with a take-off and landing point, and the other end of the branch road is respectively connected to the bidirectional channel of the main road through a bifurcation structure, so that interconnection and intercommunication of the main road and the branch road can be realized.