Low-altitude airspace resource allocation method and device, and storage medium

Abstract

The invention discloses a low-altitude airspace resource allocation method and device and a storage medium, belongs to the technical field of airspace management, and is used for solving the problem of non-uniform low-altitude airspace resource allocation. The method comprises the steps that grid division is carried out on a low-altitude airspace to obtain airspace grids, the use rate corresponding to the airspace grids is calculated, the use rate is used for indicating the use cost of the airspace grids in unit time, the air use cost corresponding to the air use activity of the aircraft is calculated according to the use rate, and the air use activity of the aircraft is calculated according to the air use cost. The air use activity at least comprises an air use route, the air use route is composed of a plurality of airspace grids, and when the air use cost is higher than a preset cost, the airspace grids in the air use route are adjusted according to the use rate corresponding to the airspace grids so as to allocate a new air use route for the aircraft. According to the scheme, balanced allocation of low-altitude airspace resources can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of airspace management, and in particular to a method, device and storage medium for allocating resources in low-altitude airspace. Background Art

[0002] Airspace resources refer to the space available for aircraft such as drones to fly, similar to ground traffic road resources. Due to safety requirements, aircraft need enough space to move around to prevent collisions. At the same time, when there are too many aircraft in an airspace, the amount of data generated by the aircraft's navigation and communication technology is high, affecting the aircraft's data transmission. Therefore, airspace resources can be considered a scarce resource for aircraft. With the development of general aviation services such as drones and air travel, people's demand for low-altitude airspace resources is also increasing, which makes low-altitude airspace resources relatively scarce. Therefore, it is crucial to reasonably allocate low-altitude airspace resources.

[0003] At present, most low-altitude airspace is free to use. This allocation method may lead to the problem of uneven distribution of low-altitude airspace resources, which is specifically reflected in:

[0004] Since airspace resources are allocated and used free of charge, applicants do not need to bear any costs if they do not use airspace resources after applying. This may lead to the malicious application of a large number of airspace resources by the first applicants, but in fact only a part of them is used. At the same time, because the airspace resources are occupied in advance, it is difficult for the later applicants to apply for airspace that meets their needs. On the one hand, it is a waste of airspace resources by the first applicants, and on the other hand, it is difficult to meet the use needs of the later applicants. Therefore, the above-mentioned airspace resource allocation method leads to uneven resource allocation. In addition, when the applicant's preferred air route cannot be applied for due to excessive usage, it is necessary to adjust the air route by itself. However, due to the applicant's insufficient understanding of the overall use of low-altitude airspace resources, it is difficult to choose a suitable air route, thereby reducing the probability of using idle low-altitude airspace, which in turn causes some airspace to be overused, while other airspace is not fully utilized, aggravating the problem of uneven airspace resource allocation. Summary of the invention

[0005] The present invention provides a method, device and storage medium for allocating resources in a low-altitude airspace, which are used to solve the technical problem of unbalanced allocation of resources in the low-altitude airspace.

[0006] The present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a method for allocating resources in low-altitude airspace, the method comprising: dividing the low-altitude airspace into grids to obtain airspace grids; calculating a usage fee rate corresponding to the airspace grid, the usage fee rate being used to indicate the usage fee of the airspace grid per unit time; calculating the air usage fee corresponding to the air usage activity of an aircraft according to the usage fee rate, the air usage activity at least including an air usage route, and the air usage route being composed of a plurality of airspace grids; when the air usage fee is higher than a preset fee, adjusting the airspace grids in the air usage route according to the usage fee rate corresponding to the airspace grid, so as to allocate a new air usage route to the aircraft.

[0008] In a feasible implementation manner, the usage rate corresponding to the airspace grid is calculated, including: calculating the basic rate under each air usage type according to the grid attributes of the airspace grid, the grid attributes including at least one of resource attributes, space attributes, time attributes, service attributes, capability attributes, sovereignty attributes and restriction attributes, and the air usage type including at least one of activity type, air usage equipment type and occupancy type; according to the basic rate, the usage rate corresponding to the airspace grid is calculated through the expected usage demand of the airspace grid, and the expected usage demand is used to indicate the aircraft usage corresponding to the airspace grid in unit time.

[0009] In a feasible implementation, the air usage fee corresponding to the air usage activity of the aircraft is calculated based on the usage fee rate, specifically including: extracting the airspace grids included in the air usage activity, and calculating the usage time corresponding to each airspace grid; calculating the usage fee of the airspace grid based on the usage fee rate and the usage time; and summing the usage fees of the airspace grids to obtain the air usage fee corresponding to the air usage activity.

[0010] In a feasible implementation, the airspace grids in the air route are adjusted according to the usage rates corresponding to the airspace grids, including: extracting the first n airspace grids with the highest usage rates in the air route; determining replacement grids corresponding to the first n airspace grids in the airspace grids, and generating a new air route according to the replacement grids; calculating the new air usage fee corresponding to the new air route; if the new air usage fee is less than the preset fee, adjusting the air route to the new air route.

[0011] In a feasible implementation, a method for allocating resources in low-altitude airspace further includes: when the new air usage fee is greater than or equal to the preset fee, adjusting the air usage time of the air usage route or giving up adjusting the airspace grid in the air usage route.

[0012] In a feasible implementation manner, adjusting the idle time of the air route includes: determining the time range for adjustment according to the air usage activity; within the time range, calculating the idle cost at each time; if there is at least one item of the idle costs at each time that is less than the preset cost, adjusting the idle time of the air route to the idle time corresponding to the lowest idle cost at each time.

[0013] In a feasible implementation, the low-altitude airspace is gridded to obtain an airspace grid, including: dividing the grid airspace into multiple airspace layers along the vertical direction according to the altitude or the height from the ground, and the distance between any two adjacent airspace layers in the vertical direction is less than a preset distance threshold; for any airspace layer, dividing it into multiple airspace grids according to grid attributes.

[0014] In a feasible implementation, a method for resource allocation in low-altitude airspace also includes: real-time monitoring of actual air usage activities in the low-altitude airspace, the actual air usage activities including air usage equipment and air usage types; calculating actual air usage costs corresponding to the actual air usage activities, and sending the actual air usage costs to the corresponding aircraft, the actual air usage costs being calculated based on the airspace grid used by the actual air usage activities.

[0015] In a second aspect, the present invention also provides a device for allocating resources in low-altitude airspace, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor so that the at least one processor can execute a method for allocating resources in low-altitude airspace as described in any of the above embodiments.

[0016] In a third aspect, the present invention also provides a non-volatile computer storage medium for resource allocation in low-altitude airspace, storing computer executable instructions, wherein the computer executable instructions are configured to be able to execute a method for resource allocation in low-altitude airspace as described in any of the above-mentioned embodiments.

[0017] The method, device and storage medium for allocating resources in low-altitude airspace provided by the present invention have the following beneficial effects:

[0018] 1. This application divides the low-altitude airspace into multiple smaller grids to facilitate subsequent accurate calculation of the airspace resources used by aircraft, calculate the usage fee rate corresponding to the airspace grid, and calculate the air usage fee corresponding to the aircraft's air usage activities based on the usage fee rate. On the one hand, the waste of resources after applicants apply for resources can be reduced by charging fees, thereby solving the problem of uneven resource allocation caused by the waste of resources by prior applicants. On the other hand, the usage fee rate of the airspace grid can be set according to flight needs, so as to guide applicants to apply for airspace with lower usage fees through fee means, so as to achieve a balanced allocation of airspace resources. When the air usage fee is higher than the preset fee, the usage fee rate corresponding to the airspace grid will be used for The airspace grids in the air use routes are adjusted to allocate new air use routes for aircraft. On the one hand, the air use fee is higher than the preset fee usually because there are airspace grids in the air use routes with expected excessive usage demand. By allocating new air use routes to air use activities with fees higher than the preset fees, the utilization of these airspace grids can be limited, thereby avoiding excessive use of airspace. On the other hand, the application can clearly understand the overall usage of low-altitude airspace resources, and can calculate air use routes with lower usage fees, that is, under-utilized airspace resources, based on the usage fee rates of the airspace grids, and allocate them to aircraft, solving the problem of under-utilization of some airspace, thereby achieving balanced allocation of airspace resources.

[0019] 2. The basis for calculating the airspace grid usage fee rate in this application includes grid attributes, airspace use type and expected use demand. Determining the airspace grid usage fee rate based on grid attributes can accurately increase the usage fee rate of airspace grids with specific attributes, such as capacity attributes, and guide applicants who do not need to use the above-mentioned specific attributes to choose other airspace use routes. That is, through this price adjustment, it is possible to reduce the situation where airspace grids with specific attributes are occupied by airspace use activities with lower demand, while airspace use activities with higher demand cannot be used, thereby achieving a reasonable allocation of the above-mentioned airspace grids with specific attributes; based on airspace use, The usage fee rate of the airspace grid can be determined based on the type, and reasonable rates can be set for different types of airspace use, which can improve the rationality of billing; the usage fee rate of the airspace grid can be determined based on the expected usage demand, and the usage fee rate of the airspace grid with higher expected usage demand can be increased. The higher expected usage demand of the airspace grid can indirectly reflect that some of its grid attributes are relatively scarce. By increasing the usage fee rate of the above-mentioned airspace grid, those airspace applicants with lower demand for relatively scarce grid attributes of the airspace grid can be guided to choose other airspace routes, thereby achieving reasonable allocation of the above-mentioned airspace grids with scarce attributes.

[0020] 3. In the process of replacing airspace grids in this application, a new air route is generated based on the top n airspace grids with the highest usage fee rates, and the top n airspace grids with the highest usage fees are selected, that is, the airspace grids with a greater impact on the usage fees are selected. Adjustments to the above airspace grids can achieve a reduction in usage fees while replacing some airspace grids in the original route, thereby ensuring the rationality of the cost of the new air route. In the specific method of adjusting the air usage time, the time range of adjustment is first determined, through which it can be ensured that the adjusted air usage time meets the time requirements of the air route, and within the above time range, the air route with the lowest usage fee is selected as the new air route. The air route with the lowest usage fee usually indicates that the corresponding airspace has a lower usage demand, that is, there are fewer aircraft in the airspace. Therefore, through the above process, airspace with lower usage demand can be allocated to aircraft on the premise of meeting the time requirements of the air route, thereby providing a guarantee for the balanced allocation of low-altitude airspace.

[0021] 4. The actual air usage in the low-altitude airspace may be different from the air usage when the aircraft applies for it. Therefore, the actual rate of the airspace grid may be different from the usage rate when the aircraft applies for it. This leads to a certain difference between the actual air usage fee of the aircraft and the estimated air usage fee. This application monitors the actual air usage in the low-altitude airspace in real time, calculates the actual air usage fee generated by the aircraft's air usage activities, and sends it to the corresponding aircraft, so that the aircraft can obtain real-time air usage fees and provide guidance for the aircraft's subsequent air usage activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0023] Figure 1 A flow chart of a method for allocating resources in low-altitude airspace provided by the present invention;

[0024] Figure 2 A schematic diagram of the structure of a low-altitude airspace resource allocation device provided by the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] The present invention provides a method, device and storage medium for resource allocation in low-altitude airspace, which divides the low-altitude airspace into multiple airspace grids, sets usage rates for the airspace grids and calculates the air usage fees of air usage activities based on the rates, and reallocates air usage routes for air usage activities whose air usage fees are higher than the preset fees, so as to solve the technical problem of unbalanced resource allocation in the current low-altitude airspace.

[0027] The method of the present invention is described in detail below with reference to the accompanying drawings.

[0028] Figure 1 A method flow chart of resource allocation in low-altitude airspace provided by the present invention is as follows: Figure 1 As shown, the method in the present invention at least includes the following execution steps:

[0029] Step 101: Grid the low-altitude airspace to obtain an airspace grid.

[0030] Gridding the low-altitude airspace is equivalent to dividing the low-altitude airspace into airspace grids similar to multiple cubes. The airspace grid is used as a basic unit to monitor and allocate airspace resources, or the airspace grid in the present invention can participate in the allocation process as an airspace resource.

[0031] Specifically, first of all, for low-altitude airspace, in the vertical direction, it is divided into multiple airspace layers according to the altitude or the height from the ground. The airspace layer here can be understood as different height intervals in the vertical direction. Each interval is regarded as an independent airspace layer. For example, the airspace at an altitude of 30 meters is regarded as an airspace layer. In this process, the distance between any two adjacent airspace layers in the vertical direction is less than the preset distance threshold. The preset distance threshold here is a pre-set value, which determines the distance between two adjacent airspace layers. When the threshold is set to 0, it means that the two adjacent airspace layers are closely connected. Such a setting can ensure that the distance between the two airspace layers will not be too large, avoiding missing an area when billing the aircraft, resulting in inaccurate or unreasonable billing results. Secondly, for any airspace layer, it is divided into multiple airspace grids according to grid attributes. The grid attributes here include resource attributes, spatial attributes, temporal attributes, service attributes, capability attributes, sovereignty attributes and restriction attributes. Among them, resource attributes represent the resources possessed by airspace grids, for example, airspace grids in scenic spots have more sightseeing resources, and airspace grids in downtown areas have more commercial activity resources; service attributes represent the services that airspace grids can provide, for example, airspace grids in sparsely populated areas can provide aircraft competition services, while airspace grids in urban areas are difficult to provide such services; capability attributes represent the capabilities of airspace grids, such as the maximum number of aircraft that can be handled, the maximum aircraft volume that can be carried, etc. By dividing any airspace layer into multiple airspace grids according to these attributes, airspace resources can be managed and allocated more finely.

[0032] In one example, the low-altitude airspace over a certain area is first divided into multiple airspace layers according to the altitude. Assuming that the height of each airspace layer is 50 meters, this means that each airspace layer covers the airspace from a certain altitude to 50 meters above this altitude. For example, starting from an altitude of 0, the first airspace layer covers the airspace from 0 meters to 50 meters above sea level, the second airspace layer covers the airspace from 50 meters to 100 meters, and so on. The vertical distance between two adjacent airspace layers is set to 0. This design ensures that the entire low-altitude airspace is effectively covered without missing any parts. Next, in an airspace layer, the area with the same grid attributes is divided into airspace grids with a length and width of 150 meters. This means that each airspace grid is approximately a cuboid with a length and width of 150 meters and a height of 50 meters. The division of areas with the same grid attributes in the airspace layer can ensure that different areas within an airspace grid have the same grid attributes, which makes it easier to set usage rates for the airspace grids. At the same time, the volume of the divided airspace grids can ensure that each airspace grid has enough space to accommodate aircraft.

[0033] Step 102: Calculate the usage rate corresponding to the airspace grid.

[0034] The usage rate refers to the fee that an aircraft needs to pay for using an airspace grid in a unit of time. This unit of time is usually set to 1 second, but it can also be set to 10 seconds, 1 minute, or other durations as needed. By setting the usage rate, the allocation of airspace resources can be adjusted according to different charges, which can reduce the waste of applicants after applying for resources and solve the problem of uneven resource allocation caused by the waste of resources by prior applicants. At the same time, the usage rate of the airspace grid can be set according to demand, and applicants can be guided to apply for airspace with lower usage fees through fees, so as to achieve effective allocation of airspace resources.

[0035] Specifically, first, the basic rates for various air use types are calculated based on the grid attributes of the airspace grid. The basic rate determines the fee that an aircraft needs to pay for using an airspace grid without the impact of expected usage demand. This fee is calculated based on the attributes of the airspace grid and the air use type. The above-mentioned air use type includes at least one of the activity type, air use equipment type and occupancy type, where the activity type includes sightseeing, logistics, aerial photography and competition, the air use equipment type includes micro-UAVs, light UAVs, helicopters and general aviation passenger aircraft, and the occupancy type includes exclusive and shared. For example, for different airspace grids, the basic rate of an airspace grid suitable for sightseeing may be higher than the basic rate of an airspace grid suitable for competition; for the same airspace grid, the basic rate for commercial performances is higher than the basic rate for logistics flights, the basic rate for helicopters is higher than the basic rate for UAVs, and the exclusive basic rate is higher than the shared basic rate. By determining the usage rate of airspace grids according to grid attributes, the usage rate of airspace grids with specific attributes can be accurately increased, and applicants who do not need to use the above-mentioned specific attributes can be guided to choose other air routes. That is, through this rate setting scheme, it is possible to reduce the situation where airspace grids with specific attributes are occupied by air activities with lower demand, while air activities with higher demand cannot be used, thereby achieving the reasonable allocation of the above-mentioned airspace grids with specific attributes. For example, the airspace grids above the scenic area are located in a beautiful area suitable for sightseeing and photography, and have more sightseeing resources, so a higher basic rate is set for the airspace grids here. Aircraft without sightseeing needs, such as express delivery and competition aircraft, often choose other airspaces because of the higher basic rate, leaving this airspace for aircraft with sightseeing needs. In this way, the reasonable allocation of airspace grids with sightseeing resource attributes is achieved.

[0036] Furthermore, based on the basic rate, the usage rate is calculated by the expected usage demand of the airspace grid. The expected usage demand refers to how many aircraft are expected to use this airspace grid within a certain period of time. If the expected usage demand is high, the usage rate may increase, because it means that the supply of this airspace grid may not be able to meet the demand. The high expected usage demand of the airspace grid can indirectly reflect that some of its grid attributes are relatively scarce. By increasing the usage rate of the above airspace grid, those airspace applicants who have a low demand for the relatively scarce grid attributes of the above airspace grid can be guided to choose other air routes, thereby realizing the reasonable allocation of the above airspace grids with scarce attributes. For example, there is a large demand for air express transportation between two express stations, and the expected usage demand of the airspace grid between the two stations is relatively high, and thus the usage rate is high. The higher usage rate of the airspace grid here reflects that the spatial attributes of the airspace grid here are relatively scarce. By increasing the usage rate of the airspace grid here, aircraft that are not performing express delivery tasks but are just passing by here can be guided to take a detour, ensuring that the airspace grid here is allocated first to the aircraft at the above-mentioned express stations, and achieving efficient and orderly air transportation tasks between express stations, which ensures the reasonable allocation of the airspace grid with space resources here.

[0037] In one example, the basic rate, usage rate and corresponding rate table of the airspace grid over the mountainous area of ​​a county-level city on X / X / 20XX are calculated. The basic rate in the basic rate table is calculated based on two variables: grid attributes and air usage type. For simplicity, only the air usage type and the corresponding basic rate are shown in the table. The specific content of the basic rate table is as follows:

[0038] XXXXXX Airspace Grid Basic Rate Table

[0039] Activity Type Use empty device type Occupancy type Basic rate (yuan / second) go sightseeing Helicopters exclusive 1 Aerial Photography Light UAV shared 0.1 logistics Medium UAV exclusive 0.5

[0040] The estimated usage demand of this airspace grid on X / X / 20XX is high, so its usage fee rate will increase accordingly. The following fee table is prepared based on the increased usage fee rate:

[0041] XXXXXX Airspace Grid Usage Rate Table

[0042] Activity Type Use empty device type Occupancy type Usage rate (yuan / second) go sightseeing Helicopters exclusive 1.5 Aerial Photography Light UAV shared 0.2 logistics Medium UAV exclusive 0.8

[0043] Based on the above real-time rate table and aircraft flight time, the usage fees required to be paid for helicopter sightseeing activities, light drones for aerial photography activities, and medium-sized drones for logistics activities on X / X / 20XX can be quickly calculated.

[0044] Step 103: Calculate the air usage fee corresponding to the aircraft's air usage activity according to the usage fee rate.

[0045] Air use activities refer to the specific flight conditions of an aircraft in low-altitude airspace, including the aircraft's air route and air use time. The air route refers to the specific path of an aircraft flying in the air, and this path includes each airspace grid that the aircraft passes through. The air use time refers to the specific time when the aircraft is flying, and this time includes the time when the aircraft passes through each airspace grid.

[0046] Specifically, first, all airspace grids are extracted from the air use activities. This process can be completed by analyzing the flight data of the aircraft, including information such as the flight path and flight speed of the aircraft. With this information, it is possible to determine in which airspace grids the aircraft flies and the time when it passes through each airspace grid. Next, the use time of each airspace grid is calculated. This time refers to the time it takes for the aircraft to pass through each airspace grid. This time can be calculated by the flight data of the aircraft. For example, the time it takes to pass through a grid is calculated based on the entry time and exit time of the aircraft in a certain grid. Then, the use fee of each airspace grid is calculated based on the use fee rate and the use time. The above-mentioned use fee rate is the corresponding use fee rate when the aircraft passes through the airspace grid. For example, if the use fee rate of airspace grid X on a certain day is 1 yuan per second, and the aircraft flies in the above-mentioned airspace grid for 10 seconds on that day, then the use fee of this airspace grid is 10 yuan. Finally, the use fees of all airspace grids are added up to get the total air use fee of the aircraft.

[0047] Step 104: When the air usage fee is higher than the preset fee, the airspace grids in the air usage route are adjusted according to the usage fee rates corresponding to the airspace grids.

[0048] The above-mentioned preset fee can be set by a device for calculating the air usage fee. The above-mentioned device can set the preset fee according to the number of aircraft carried in the airspace grid. In one example, the usage fee rate corresponding to the maximum carrying capacity of the airspace grid can be calculated, and then a certain proportion thereof is taken as the preset fee rate. Then, the preset fee for each flight route is calculated based on this preset fee rate. If the air usage fee exceeds the preset fee, it is usually because the expected usage demand of certain airspace grids is too high. In order to avoid excessive use of these airspaces, new flight routes can be allocated to aircraft passing through these airspaces, thereby reducing the usage demand of these airspace grids. That is, the above-mentioned device can clearly understand the usage of low-altitude airspace resources, and calculate the flight routes with lower costs, that is, the airspace resources that are not fully utilized, according to the usage fee rate of the airspace grid, and allocate them to aircraft to solve the problem of underutilization of some airspaces.

[0049] Specifically, first, extract the first n airspace grids with the highest usage rate in the air route, and the specific method is: first analyze the current air route to find all the airspace grids contained therein; then calculate the usage rate of each airspace grid, and finally sort all the airspace grids according to the usage rate, and select the n airspace grids with the highest usage rate. The value of n can be the ratio of the number of all airspace grids in the air route. For example, the air route includes 10 airspace grids, and 30% of the number, that is, 3, is taken as the value of n. The value of n can also be determined by combining the basic rate and the usage rate of the airspace grid. For example, the air route includes 10 airspace grids, and the corresponding usage rates of the two airspace grids with the highest usage rates are higher than 3 times the average of the usage rates of all grids, and higher than 2 times the basic rate, so the value of n can be taken as 2. Then, determine the replacement grids corresponding to the first n airspace grids in the above airspace grids, and a variety of algorithms can be used to calculate the above replacement grids, such as genetic algorithms, particle swarm optimization algorithms, or ant colony optimization algorithms. Then, a new air route is generated based on the above-mentioned replacement grid and the new air fee corresponding to the new air route is calculated; if the new air fee is less than the preset fee, the air route is adjusted to the above-mentioned new air route. A new air route is generated based on the first n airspace grids with the highest usage fee rates, and the first n airspace grids with the highest usage fee are selected, that is, some airspace grids with the greatest impact on the usage fee are selected. Adjusting the above airspace grids can reduce more usage fees while replacing fewer airspace grids, thereby ensuring the rationality of the new air route.

[0050] Further, when the new air use fee is greater than or equal to the preset fee, the air use time of the air use route is adjusted or the adjustment of the airspace grid in the air use route is abandoned. The method of adjusting the air use time specifically includes: determining the time range of adjustment according to the air use activity, and calculating the air use fee at each time within the time range; if there is at least one item of the air use fee at each time that is less than the preset fee, the air use time of the air use route is adjusted to the air use time corresponding to the lowest air use fee at each time; if the air use fee at each time is greater than the preset fee, the adjustment is abandoned. In the specific method of adjusting the air use time, first, the time range of adjustment is determined. For example, if the original air use time is from 8 to 9 on March 4, the time range of adjustment can be set to: from 7 to 8, from 9 to 10 on March 4, and from 7 to 9 on March 5. By determining an appropriate adjustment range, it can be ensured that the adjusted air use time can meet the time requirements of the aircraft. Secondly, the air use route with the lowest use fee is selected as the new air use route within the above time range. The lower use fee of the new air use route reflects the lower expected use demand of the airspace grid therein. Therefore, through the above process, it is possible to allocate airspace with lower usage demand to aircraft while meeting the time requirements of air route use, thus providing a guarantee for the balanced allocation of low-altitude airspace.

[0051] In a possible implementation of the present application, after applying for airspace, the aircraft may not use the airspace as originally planned due to changes in flight plans or other reasons. The actual use of the airspace may be different from the expected use when the aircraft applied, that is, the actual use rate of the airspace grid is different from the use rate at the time of application. Therefore, after adjusting the air use route, the present application will monitor the actual air use activities in the low-altitude airspace in real time. The actual air use activities here refer to the various air use activities actually carried out by all aircraft in the low-altitude airspace, rather than the air use activities expected at the time of application. Next, the actual air use fee corresponding to the actual air use activity is calculated based on the actual use fee rate at the current moment, and the actual air use fee is sent to the corresponding aircraft.

[0052] The aforementioned actual air use fees refer to the fees incurred by aircraft flying in low-altitude airspace. These fees are calculated based on the airspace grids that have been used for actual air use activities. The specific calculation method is: First, obtain the airspace grids that have been used for actual air use activities and the duration of use. Then, multiply the duration of use by the actual usage rate to obtain the actual usage fee of the airspace grid. Finally, add up the actual fees of the used airspace grids to get the actual air use fees. In this way, aircraft can clearly know the fees they need to pay based on their own air use activities, so as to better plan and manage subsequent air use activities. Among them, the actual usage rate is calculated based on the basic rate of the airspace grid and the actual number of aircraft in the airspace grid.

[0053] Based on the same inventive concept, the present invention also provides a device for allocating resources in low-altitude airspace, the structure of which is as follows: Figure 2 shown.

[0054] Figure 2 The present invention provides a schematic diagram of the structure of a low-altitude airspace resource allocation device. Figure 2 As shown, a device 200 for allocating resources in low-altitude airspace in the present invention specifically includes: at least one processor 201; and a memory 203 that is communicatively connected to the at least one processor (connected via a bus 202); wherein the memory 203 stores instructions that can be executed by the at least one processor 201, so that the at least one processor 201 can execute a method for allocating resources in low-altitude airspace as described in the above embodiment.

[0055] In a possible implementation of the present invention, the aforementioned processor is used to execute: gridding the low-altitude airspace to obtain airspace grids; calculating the usage fee rate corresponding to the airspace grid, the usage fee rate is used to indicate the usage fee of the airspace grid per unit time; calculating the air usage fee corresponding to the air usage activity of the aircraft according to the usage fee rate, the air usage activity at least includes an air usage route, and the air usage route is composed of multiple airspace grids; when the air usage fee is higher than the preset fee, adjusting the airspace grids in the air usage route according to the usage fee rate corresponding to the airspace grid, so as to allocate a new air usage route for the aircraft.

[0056] Each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the IoT device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0057] The system and medium provided by the present invention correspond one-to-one to the method, and therefore, the system and medium also have similar beneficial technical effects to the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the system and medium will not be repeated here.

[0058] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0059] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0060] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0062] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0063] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0064] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0065] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0066] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for allocating resources in low-altitude airspace, characterized in that: The method comprises: Grid the low-altitude airspace to obtain an airspace grid; Calculating a usage fee rate corresponding to the airspace grid, where the usage fee rate is used to indicate a usage fee of the airspace grid per unit time; Calculate the air usage fee corresponding to the air usage activity of the aircraft according to the usage fee rate, wherein the air usage activity at least includes an air usage route, and the air usage route is composed of a plurality of airspace grids; When the air usage fee is higher than a preset fee, the airspace grids in the air usage route are adjusted according to the usage fee rate corresponding to the airspace grids to allocate a new air usage route for the aircraft.

2. The method for allocating resources in low-altitude airspace according to claim 1, characterized in that: Calculating the usage fee rate corresponding to the airspace grid, including: Calculate the basic rate for each air usage type according to the grid attributes of the airspace grid, the grid attributes including at least one of resource attributes, space attributes, time attributes, service attributes, capability attributes, sovereignty attributes and restriction attributes, and the air usage type including at least one of activity type, air usage equipment type and occupancy type; According to the basic rate, the usage rate corresponding to the airspace grid is calculated through the estimated usage demand of the airspace grid, and the estimated usage demand is used to indicate the aircraft usage corresponding to the airspace grid within a unit time.

3. The method for allocating resources in low-altitude airspace according to claim 1, characterized in that: The air usage fee corresponding to the aircraft's air usage activity is calculated based on the usage fee rate, specifically including: Extracting the airspace grids included in the air usage activity, and calculating the usage time corresponding to each airspace grid; Calculating the usage fee of the airspace grid according to the usage fee rate and the usage duration; The usage fees of the airspace grids are summed to obtain the airspace usage fees corresponding to the airspace usage activities.

4. The method for allocating resources in low-altitude airspace according to claim 1, characterized in that: The airspace grid in the air route is adjusted according to the usage fee rate corresponding to the airspace grid, including: Extract the first n airspace grids with the highest usage rates in the airspace route; Determine in the airspace grid the replacement grids corresponding to the first n airspace grids, and generate a new airspace route according to the replacement grids; Calculate the new air usage fee corresponding to the new air usage route; If the new air usage fee is less than the preset fee, the air usage route is adjusted to the new air usage route.

5. The method for allocating resources in low-altitude airspace according to claim 4, characterized in that: Also includes: When the new air usage fee is greater than or equal to the preset fee, the air usage time of the air usage route is adjusted or the adjustment of the airspace grid in the air usage route is abandoned.

6. The method for allocating resources in low-altitude airspace according to claim 5, characterized in that: Adjusting the air usage time of the air usage route includes: Determine the time frame for adjustment based on the space utilization activities described; Calculate the space usage fee at each time within the time range; If there is at least one item of the idle time charges at each time that is less than the preset charge, the idle time of the idle route is adjusted to the idle time corresponding to the lowest idle time charge at each time.

7. The method for allocating resources in low-altitude airspace according to claim 1, characterized in that: The low-altitude airspace is gridded to obtain the airspace grid, including: Dividing the grid airspace into a plurality of airspace layers along the vertical direction according to the altitude or the height from the ground, and the distance between any two adjacent airspace layers in the vertical direction is less than a preset distance threshold; For any airspace layer, it is divided into multiple airspace grids according to the grid attributes.

8. The method for allocating resources in low-altitude airspace according to claim 1, characterized in that: The method further comprises: Monitor in real time the actual air use activities in the low-altitude airspace, the actual air use activities including air use equipment and air use types; The actual air usage fee corresponding to the actual air usage activity is calculated, and the actual air usage fee is sent to the corresponding aircraft, wherein the actual air usage fee is calculated based on the airspace grid used by the actual air usage activity.

9. A device for allocating resources in low-altitude airspace, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute the method for allocating resources in the low-altitude airspace according to any one of claims 1-8.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to be able to execute a method for allocating resources in a low-altitude airspace according to any one of claims 1-8.

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