Self-adaptive airspace division method and device, equipment and storage medium
By dynamically adjusting the airspace division based on route network and obstacle data in drone technology, the problem that traditional fixed grid systems cannot adapt to actual flight routes is solved, and flight safety and efficiency are improved.
Patent Information
- Application Number
- CN202411992325.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-05-16
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The dependence of fixed grid systems in the prior art lacks adaptability to actual flight routes, resulting in flight safety and inefficiency.
By generating the route airspace based on the route network, and generating the obstacle airspace based on the obstacle-related data, determining the maximum grid level with the route attributes, performing step-by-step division, and dynamically adjusting the airspace division.
It has achieved dynamic adjustment of airspace division according to actual flight needs, improved flight safety and efficiency, and adapted to the accuracy requirements of different levels.
Smart Images
Figure CN120014887A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of unmanned aerial vehicle technology, and in particular to an adaptive airspace division method, device, equipment and storage medium. Background Art
[0002] With the development of drone technology, drones are increasingly used in logistics distribution, agricultural plant protection, power inspection and other fields. To ensure the flight safety of drones, it is necessary to manage the flight airspace in a refined manner. Traditional airspace division methods mostly rely on fixed grid systems and lack adaptability to actual flight routes. Summary of the invention
[0003] The present invention provides an adaptive airspace division method, device, equipment and storage medium to solve the defects of the prior art that it relies on a fixed grid system and lacks adaptability to actual flight routes, so as to dynamically adjust the airspace division according to actual flight needs and improve flight safety and efficiency.
[0004] The present invention provides an adaptive spatial domain division method, comprising the following steps: Generate route airspace based on route network, and generate obstacle airspace based on obstacle related data; Based on the route attributes of each route in the route network, determining a maximum grid level corresponding to each route; the maximum grid level corresponds to a minimum three-dimensional grid volume size; Based on the maximum grid level corresponding to each route and the route airspace, the airspace is divided step by step to obtain an airspace division result, and based on the airspace division result and the obstacle airspace, the airspace division result is encoded.
[0005] According to an adaptive airspace division method provided by the present invention, based on the route attributes of each route in the route network, determining the maximum grid level corresponding to each route, specifically includes: Determine the correspondence between different mesh levels and different three-dimensional mesh body sizes; wherein the smaller the mesh level, the larger the three-dimensional mesh body size; Based on the aircraft size of each route in the route network and the corresponding relationship, a maximum grid level corresponding to each route is determined.
[0006] According to an adaptive airspace division method provided by the present invention, based on the maximum grid level corresponding to each route and the route airspace, the airspace division result is obtained by performing step-by-step division, specifically including: The maximum grid level corresponding to each route is used as the maximum grid level of the partitioning process, and the partitioning is performed step by step in the order of the grid levels from small to large; If there is an overlapping part between the current three-dimensional grid volume and the airway airspace, the current three-dimensional grid volume is segmented; otherwise, the current three-dimensional grid volume is not segmented; Based on the segmented three-dimensional grid volume, an airspace segmentation result corresponding to the route airspace is obtained.
[0007] According to an adaptive airspace division method provided by the present invention, based on the airspace segmentation result and the obstacle airspace, encoding to obtain the airspace division result specifically includes: Based on the obstacle airspace, determining the airspace type of each three-dimensional grid body in the airspace segmentation result; For any three-dimensional grid body of the maximum level, determining whether the any three-dimensional grid body has an overlapping area with the obstacle airspace; In the case where the arbitrary three-dimensional grid body and the obstacle airspace have an overlapping area, the airspace type of the arbitrary three-dimensional grid body is classified as the overlapping obstacle airspace type; otherwise, the airspace type of the arbitrary three-dimensional grid body is classified as the flyable airspace type; Based on the spatial type of each three-dimensional grid volume in the spatial partitioning result, the spatial partitioning result is encoded.
[0008] According to an adaptive airspace division method provided by the present invention, a route airspace is generated based on a route network, specifically comprising: Determining the horizontal plane area of each route in the route network based on the azimuth angle and the set width between the route nodes in the route network; Determining the cubic area of each of the routes based on the horizontal plane area and the set altitude; The cubic areas of the various routes are spliced together to obtain the route airspace of the route network.
[0009] According to an adaptive airspace division method provided by the present invention, an obstacle airspace is generated based on obstacle-related data, specifically comprising: Determine the cubic area of each obstacle based on the minimum longitude, maximum longitude, minimum latitude, maximum latitude, minimum altitude and maximum altitude of each obstacle; The cubic areas of the obstacles are spliced together to obtain the obstacle airspace.
[0010] The present invention also provides an adaptive airspace division device, comprising the following modules: The airspace generation module is used to generate route airspace based on route network and obstacle airspace based on obstacle related data; A level determination module, used for determining a maximum grid level corresponding to each route based on route attributes of each route in the route network; the maximum grid level corresponds to a minimum three-dimensional grid volume size; The airspace division module is used to perform step-by-step division based on the maximum grid level corresponding to each route and the route airspace to obtain an airspace division result, and encode the airspace division result based on the airspace division result and the obstacle airspace.
[0011] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the adaptive spatial domain division method as described above is implemented.
[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the adaptive spatial domain division method as described in any one of the above is implemented.
[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned adaptive spatial domain division methods.
[0014] The adaptive airspace division method, device, equipment and storage medium provided by the present invention generate route airspace according to the route network, generate obstacle airspace according to obstacle-related data, determine the maximum grid level corresponding to each route according to the route attributes of each route in the route network, and then perform step-by-step division according to the maximum grid level corresponding to each route, and finally perform step-by-step division according to the maximum grid level and route airspace corresponding to each route to obtain the airspace division result, and encode the airspace division result according to the airspace division result and the obstacle airspace, so that airspace division can be performed at different levels of accuracy, and the airspace division can be dynamically adjusted according to actual flight needs to improve flight safety and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] 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 description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 A schematic diagram of the flow of the adaptive airspace division method provided by the present invention.
[0017] Figure 2 A schematic diagram of the processing flow of the adaptive airspace partitioning method based on the route network provided by the present invention.
[0018] Figure 3 A schematic diagram of a flight test area provided by the present invention.
[0019] Figure 4 A schematic diagram of the segmented airspace provided by the present invention.
[0020] Figure 5 A schematic diagram of the obstacle airspace provided by the present invention.
[0021] Figure 6 A schematic diagram of the dissection results provided by the present invention.
[0022] Figure 7 A schematic diagram of the structure of the adaptive airspace division device provided by the present invention.
[0023] Figure 8 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION
[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0025] Figure 1 A schematic diagram of the process flow of the adaptive airspace division method provided by the present invention is shown in FIG. Figure 1 As shown, the method comprises the following steps: Step 100: Generate route airspace based on the route network, and generate obstacle airspace based on obstacle-related data.
[0026] Specifically, in the embodiment of the present invention, the information of the route and obstacles can be converted into a three-dimensional space model. In this process, the route airspace and the obstacle airspace can be represented in a gridded manner, thereby facilitating subsequent path planning, airspace management and safety monitoring.
[0027] The route network is usually composed of multiple route nodes, which represent take-off points, landing points, intermediate waypoints, etc. Each route node has attributes such as longitude, latitude, and flight altitude. The description of the route can be represented by a series of nodes and connections between nodes. The longitude of each node on the route network can be prepared ,latitude ,high , the sequence number of each node and the route to which it belongs , pre-process the data as input data, and then generate the route airspace through these data.
[0028] Optionally, the route airspace is generated based on the route network, specifically including: Determine the horizontal plane area of each route in the route network based on the azimuth angle and the set width between the route nodes in the route network; Determine the cubic area of each route based on the horizontal plane area and the set altitude; The cubic areas of each route are spliced together to obtain the route airspace of the route network.
[0029] Specifically, each pair of adjacent route nodes may define a route segment, and the azimuth (heading angle) of each route segment may be first calculated, which is the direction of the route in the horizontal plane.
[0030] The calculation process is as follows: First, calculate the longitude and latitude difference between the two nodes , : Then, calculate the azimuth : Based on the calculated azimuth, the latitude, longitude and altitude coordinates of the four vertices of the rectangular area on the horizontal plane of the cube can be generated according to the set width offset: Then, we can use the height of the node As the center, offset according to the set height range to generate the longitude, latitude and altitude coordinate sets of the eight vertices of the cube: Finally, the cube areas generated by all routes can be spliced together as the route airspace of the route network.
[0031] The width and altitude range of the route may be determined by the size of the aircraft and flight safety requirements. For example, the width of the route may be set according to the size of the aircraft or a specified safety buffer zone. The altitude range of the route may be set according to the flight altitude range of the aircraft.
[0032] Obstacle-related data may include the longitude, latitude, altitude, and spatial extent of the obstacle (e.g., the size of a building or obstacle). The longitude of each obstacle in the airspace can be prepared. ,latitude ,high Perform preprocessing to obtain the minimum longitude of each obstacle , maximum longitude , minimum latitude , maximum latitude , minimum height and maximum height As input data, the obstacle airspace is then generated using these data.
[0033] Optionally, generating an obstacle airspace based on obstacle-related data specifically includes: Determine the cubic area of each obstacle based on the minimum longitude, maximum longitude, minimum latitude, maximum latitude, minimum altitude, and maximum altitude of each obstacle; The cubic areas of each obstacle are spliced together to obtain the obstacle airspace.
[0034] Specifically, each obstacle can be defined by its minimum and maximum longitude and latitude. The height range of an obstacle is usually determined by the height of the obstacle (such as the height of a building or other structure) and the height of the ground.
[0035] The obstacle space can be represented by generating an obstacle cube.
[0036] The boundaries of each obstacle cube are defined by its longitude, latitude, and altitude range. For each obstacle, its corresponding cube region is generated and added to the total set of obstacle airspaces. The collection of these cube regions can be represented by a grid, with each grid representing a fine spatial region. These cube regions can be stitched together to form an airspace that contains all obstacles.
[0037] Step 101: Based on the route attributes of each route in the route network, determine the maximum grid level corresponding to each route; the maximum grid level corresponds to the minimum three-dimensional grid volume size.
[0038] Specifically, the attributes of each route on the route network can be prepared, including the size of the aircraft flying in the route (length × width × height: ), flight altitude Etc., preprocess the data as input data, so as to determine the maximum grid level corresponding to each route, that is, the minimum three-dimensional grid size corresponding to each route.
[0039] According to the attributes of each route, such as the aircraft size and flight altitude, the grid level that best matches the route attributes can be selected in combination with the preset grid level division rules.
[0040] For example, the size of the aircraft determines the minimum space requirement of the airspace and affects the fineness of the mesh. Larger aircraft usually require larger meshes, while smaller aircraft can choose smaller meshes. The flight altitude of the aircraft determines the altitude range of the airspace segmentation. Higher aircraft need to be able to adapt to a larger altitude range, so a finer mesh may be required for segmentation.
[0041] Step 102: based on the maximum grid level and route airspace corresponding to each route, perform step-by-step segmentation to obtain an airspace segmentation result, and based on the airspace segmentation result and the obstacle airspace, encode to obtain an airspace division result.
[0042] Specifically, after determining the maximum grid level corresponding to each route, the airspace can be divided step by step from the lowest level to the maximum grid level corresponding to each route. That is to say, for each level, the airspace is divided into multiple grid volumes according to the grid division rules. The grid volume is gradually refined in longitude, latitude and altitude until the grid level with the smallest three-dimensional grid volume size (i.e., the maximum grid level) is reached. In this process, the airspace can be divided according to the route, and the three-dimensional grid volume obtained by dividing the airspace according to the route is used as the airspace division result.
[0043] After obtaining the airspace segmentation results, it is necessary to check whether it overlaps with the obstacle airspace, determine its airspace type, and perform appropriate encoding to obtain the airspace division results.
[0044] For example, each three-dimensional grid body is assigned a corresponding coding value according to its airspace type, and for each three-dimensional grid body, its longitude, latitude, altitude range and corresponding airspace type code are recorded.
[0045] By subdividing the airspace step by step, the airspace can be divided into multiple levels, each of which represents a grid volume with different precision. Route airspace and obstacle airspace play a key role in the entire division process, ensuring that the aircraft has a sufficient safety distance in the airspace and preventing the aircraft from entering the no-fly zone or obstacle airspace.
[0046] By encoding all 3D meshes, spatial partitioning results can be efficiently generated. This process converts the spatial partitioning results into structured data for easy storage, transmission and application.
[0047] The adaptive airspace division method provided by the present invention generates a route airspace according to a route network, generates an obstacle airspace according to obstacle-related data, determines the maximum grid level corresponding to each route according to the route attributes of each route in the route network, and then performs step-by-step division according to the maximum grid level corresponding to each route. Finally, the airspace division is performed step-by-step according to the maximum grid level and the route airspace corresponding to each route to obtain an airspace division result. The airspace division result is encoded according to the airspace division result and the obstacle airspace, so that the airspace division can be performed at different levels of accuracy, and the airspace division can be dynamically adjusted according to actual flight requirements to improve flight safety and efficiency.
[0048] According to an adaptive airspace division method provided by the present invention, based on the route attributes of each route in the route network, the maximum grid level corresponding to each route is determined, specifically including: Determine the correspondence between different mesh levels and different three-dimensional mesh body sizes; wherein the smaller the mesh level, the larger the three-dimensional mesh body size; Based on the aircraft size and corresponding relationship of each route in the route network, the maximum grid level corresponding to each route is determined.
[0049] Specifically, in the embodiment of the present invention, the grid level is realized by projecting the earth's surface into a plane and dividing it into multiple levels. Different levels correspond to different grid sizes. For example, for each grid level, a grid volume size (longitude × latitude × altitude) as shown in Table 1 can be defined, and these grid levels increase step by step from larger size to smaller size.
[0050] Table 1 Examples of the correspondence between mesh levels and different 3D mesh body sizes
[0051] According to the aircraft attributes (such as length a, width b, height c) corresponding to each route in the route network, the maximum size of the aircraft can be calculated.
[0052] Optionally, the greatest common divisor of the aircraft sizes in each route can be calculated. ,Width ,high Determine a cube, use Euclidean algorithm to calculate the greatest common divisor of the length, width and height of the cube respectively, and obtain a cube whose length, width and height are all the greatest common divisors.
[0053] The algorithm steps are as follows: Step 1: If , then return As the greatest common divisor; Step 2: If ,calculate ; Step 3: Update for , for ; Step 4: Repeat the above steps until , we get the greatest common divisor.
[0054] After obtaining the cube, the calculated size of the cube can be matched with the size of the subdivided mesh body to determine which level of mesh body size the cube size is closest to. The closest level is the maximum mesh level.
[0055] According to an adaptive airspace division method provided by the present invention, based on the maximum grid level and route airspace corresponding to each route, the airspace division result is obtained by performing step-by-step division, specifically including: The maximum grid level corresponding to each route is used as the maximum grid level of the partitioning process, and the partitioning is performed step by step in the order of the grid levels from small to large; If there is an overlap between the current three-dimensional grid volume and the airspace of the route, the current three-dimensional grid volume is segmented; otherwise, the current three-dimensional grid volume is not segmented; Based on the segmented three-dimensional grid volume, the airspace segmentation result corresponding to the route airspace is obtained.
[0056] Specifically, as described above, the maximum grid level of each route has been calculated based on the attributes of the route. In an embodiment of the present invention, the airspace can be divided step by step in the order of grid levels from small to large, starting from the first grid level (corresponding to the largest three-dimensional grid volume size) until the maximum grid level of each route.
[0057] During the segmentation process of any grid level, for the current three-dimensional grid body, first check whether the three-dimensional grid body overlaps with the route airspace. If the three-dimensional grid body overlaps with the route airspace, it is segmented. If the three-dimensional grid body does not overlap with the route airspace, the three-dimensional grid body is skipped and not segmented.
[0058] Based on the three-dimensional grid body obtained by step-by-step subdivision, the spatial domain subdivision result can be obtained.
[0059] In some implementations, the division method can be determined based on the division level. For example, if it is the first three layers, the default is that no division is performed in height. From the fourth layer onwards, the height is divided in a ratio consistent with the longitude and latitude.
[0060] According to an adaptive airspace division method provided by the present invention, based on the airspace segmentation result and the obstacle airspace, encoding obtains the airspace division result, specifically including: Based on the obstacle airspace, determine the airspace type of each three-dimensional grid body in the airspace segmentation result; For any three-dimensional mesh body at the maximum level, determine whether there is an overlapping area between the any three-dimensional mesh body and the obstacle airspace; In the case where there is an overlapped area between any three-dimensional grid body and the obstacle airspace, the airspace type of the any three-dimensional grid body is classified as the overlapped obstacle airspace type; otherwise, the airspace type of the any three-dimensional grid body is classified as the flyable airspace type; Based on the airspace type of each three-dimensional grid volume in the airspace segmentation result, the airspace division result is encoded.
[0061] Specifically, after obtaining the airspace segmentation result, the airspace type of each three-dimensional grid body in the airspace segmentation result can be determined according to the obstacle airspace.
[0062] In the embodiment of the present invention, it is possible to determine, for any three-dimensional mesh body at the maximum level, whether the three-dimensional mesh body has an overlapping area with the obstacle airspace.
[0063] In the specific inspection process, it can be carried out by checking whether the minimum longitude and maximum longitude of the three-dimensional grid body intersect with the minimum longitude and maximum longitude of the obstacle, whether the minimum latitude and maximum latitude of the three-dimensional grid body intersect with the minimum latitude and maximum latitude of the obstacle, and whether the minimum height and maximum height of the three-dimensional grid body intersect with the minimum height and maximum height of the obstacle. If the longitude, latitude, and height all intersect, the three-dimensional grid body overlaps with the obstacle airspace.
[0064] If the 3D mesh body overlaps with the obstacle airspace, the 3D mesh body can be marked as having an airspace type of overlapping obstacle airspace type. That is, the 3D mesh body is the area occupied by the obstacle and cannot be flown.
[0065] If the 3D mesh body does not overlap with the obstacle airspace, the 3D mesh body is marked as a flyable airspace, that is, the 3D mesh body has no obstacles and can be flown.
[0066] The airspace type of each three-dimensional grid body (coincident obstacle airspace or flyable airspace) is encoded to finally generate a complete airspace division result. For example, the corresponding encoding value can be assigned to each three-dimensional grid body according to its airspace type. For example, if the airspace type of the three-dimensional grid body is "flyable airspace", its encoding is 0; if it is "obstacle airspace", its encoding is 1.
[0067] The adaptive airspace division method provided by the present invention is further explained below through embodiments in specific application scenarios.
[0068] Figure 2 A schematic diagram of the processing flow of the adaptive airspace partitioning method based on the route network provided by the present invention is shown in FIG. Figure 2 As shown, the method comprises the following steps: Step S1: Data preparation and preprocessing.
[0069] This embodiment requires the preparation of some initial data and preprocessing. This embodiment takes a certain city's flight test area as an example. Figure 3 A schematic diagram of a flight test area provided by the present invention.
[0070] S11: Select the generated route network, pre-process the sequence number of each node in the route network, the route to which it belongs, and its latitude, longitude and altitude, and obtain the route node data as shown in Table 2: Table 2 Route node data
[0071] S12: Prepare the attributes of each route on the route network, including the dimensions of the aircraft flying in the route (length × width × height: ), the data is preprocessed as input data, as shown in Table 3.
[0072] Table 3 Route attribute data
[0073] S13: Preprocess the received obstacle data to obtain the longitude, latitude and altitude of the obstacle. Some of the data are shown in Table 4: Table 4 Data of some obstacles
[0074] Step S2: Generate segmented airspace based on the route network.
[0075] S21: Take the line connecting two adjacent nodes as the route and calculate the azimuth of the route , as shown in Table 5.
[0076] Table 5 Azimuth of each route
[0077] S22: Based on the calculated azimuth, the latitude, longitude and altitude coordinate sets of the four vertices of the rectangular area on the horizontal plane of the cube are generated according to the width range of 50 meters. The latitude, longitude and altitude coordinates of the vertices of the rectangular area of some routes are shown in Table 6.
[0078] Table 6 Coordinates of vertices in the rectangular area of some routes
[0079] S23: Based on the height of the node As the center, the latitude, longitude and altitude coordinate sets of the eight vertices of the cube are generated according to the altitude range of 200 meters. The latitude, longitude and altitude coordinates of the vertices of the rectangular area of some routes are shown in Table 7.
[0080] Table 7 Coordinates of vertices in some route cube areas
[0081] S24: The cube areas generated by all routes are spliced together as the subdivided airspace. Figure 4 A schematic diagram of the segmented airspace provided by the present invention.
[0082] Step S3: Generate obstacle airspace.
[0083] S31: Based on the minimum longitude of each obstacle , maximum longitude , minimum latitude , maximum latitude , minimum height and maximum height , generate the longitude, latitude and altitude coordinate sets of the eight vertices of the cube area, and the coordinates of the vertex areas of the cube of some obstacles are shown in Table 8.
[0084] Table 8 Coordinates of the vertices of some obstacles in the cube
[0085] S32: The cubic areas generated by the various obstacles are spliced together as the obstacle airspace. Figure 5 A schematic diagram of the obstacle airspace provided by the present invention.
[0086] Step S4: Adaptively determine the segmentation level based on the attributes of each route.
[0087] S41: Calculate the greatest common divisor of the aircraft sizes in each route. ,Width ,high Determine a cube, use the Euclidean algorithm to calculate the greatest common divisor of the length, width and height of the cube, and obtain a cube whose length, width and height are all the greatest common divisors, as shown in Table 9.
[0088] Table 9 The greatest common divisor cube size of each route
[0089] S42: Match the calculated cube size with the size of the subdivided mesh body, and determine which level of mesh body size the cube size is closest to. The closest level is the maximum level of subdivision, as shown in Table 10.
[0090] Table 10 Route segmentation levels
[0091] Step S5: Spatial segmentation and encoding.
[0092] S51: Starting from the first level to the maximum level of the final spatial division, the division is performed step by step downward.
[0093] S511: Determine the current segmentation level. If it is the first three layers, the height is not segmented by default. From the fourth layer onwards, the height is segmented in a ratio consistent with the longitude and latitude.
[0094] S512: When dividing, first determine whether the current divided grid body overlaps with the divided airspace generated in S23. If so, divide it; otherwise, do not divide the grid body.
[0095] S513: Each time a grid body is divided, the grid body is encoded according to the encoding rule of the corresponding level, as shown in Table 11.
[0096] Table 11 Mesh encoding examples at each level
[0097] S514: Determine the current segmentation level. If the current segmentation level is the maximum level of segmentation, determine whether the mesh body of the maximum level of the current segmentation overlaps with the obstacle airspace generated in S32. If yes, encode the airspace type of the mesh body according to the overlapping obstacle airspace type; if not, encode its airspace type according to the flyable airspace.
[0098] S52: Output the grid unit data of all levels of division, as shown in Table 12. Figure 6 A schematic diagram of the dissection results provided by the present invention.
[0099] Table 12 Output data of some meshes The adaptive spatial division device provided by the present invention is described below. The adaptive spatial division device described below and the adaptive spatial division method described above can be referenced to each other.
[0100] Figure 7 The schematic diagram of the structure of the adaptive airspace division device provided by the present invention is as follows: Figure 7 As shown, the device includes the following modules: The airspace generation module 700 is used to generate route airspace based on the route network and to generate obstacle airspace based on obstacle related data; A level determination module 710 is used to determine the maximum grid level corresponding to each route based on the route attributes of each route in the route network; the maximum grid level corresponds to the minimum three-dimensional grid volume size; The airspace division module 720 is used to perform step-by-step division based on the maximum grid level and route airspace corresponding to each route to obtain an airspace division result, and encode the airspace division result based on the airspace division result and the obstacle airspace.
[0101] According to an adaptive airspace division device provided by the present invention, based on the route attributes of each route in the route network, the maximum grid level corresponding to each route is determined, specifically including: Determine the correspondence between different mesh levels and different three-dimensional mesh body sizes; wherein the smaller the mesh level, the larger the three-dimensional mesh body size; Based on the aircraft size and corresponding relationship of each route in the route network, the maximum grid level corresponding to each route is determined.
[0102] According to an adaptive airspace division device provided by the present invention, based on the maximum grid level and airspace corresponding to each route, the airspace division result is obtained by performing step-by-step division, specifically including: The maximum grid level corresponding to each route is used as the maximum grid level of the partitioning process, and the partitioning is performed step by step in the order of the grid levels from small to large; If there is an overlap between the current three-dimensional grid volume and the airspace of the route, the current three-dimensional grid volume is segmented; otherwise, the current three-dimensional grid volume is not segmented; Based on the segmented three-dimensional grid volume, the airspace segmentation result corresponding to the route airspace is obtained.
[0103] According to an adaptive airspace division device provided by the present invention, based on the airspace segmentation result and the obstacle airspace, encoding obtains the airspace division result, specifically comprising: Based on the obstacle airspace, determine the airspace type of each three-dimensional grid body in the airspace segmentation result; For any three-dimensional mesh body at the maximum level, determine whether there is an overlapping area between the any three-dimensional mesh body and the obstacle airspace; In the case where there is an overlapped area between any three-dimensional grid body and the obstacle airspace, the airspace type of the any three-dimensional grid body is classified as the overlapped obstacle airspace type; otherwise, the airspace type of the any three-dimensional grid body is classified as the flyable airspace type; Based on the airspace type of each three-dimensional grid volume in the airspace segmentation result, the airspace division result is encoded.
[0104] According to an adaptive airspace division device provided by the present invention, a route airspace is generated based on a route network, specifically comprising: Determine the horizontal plane area of each route in the route network based on the azimuth angle and the set width between the route nodes in the route network; Determine the cubic area of each route based on the horizontal plane area and the set altitude; The cubic areas of each route are spliced together to obtain the route airspace of the route network.
[0105] According to an adaptive airspace division device provided by the present invention, an obstacle airspace is generated based on obstacle-related data, specifically comprising: Determine the cubic area of each obstacle based on the minimum longitude, maximum longitude, minimum latitude, maximum latitude, minimum altitude, and maximum altitude of each obstacle; The cubic areas of each obstacle are spliced together to obtain the obstacle airspace.
[0106] Figure 8 A schematic diagram of the structure of an electronic device provided by the present invention, such as Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the adaptive spatial domain division method, which includes the following steps: Generate route airspace based on route network, and generate obstacle airspace based on obstacle related data; Based on the route attributes of each route in the route network, the maximum grid level corresponding to each route is determined; the maximum grid level corresponds to the minimum three-dimensional grid volume size; Based on the maximum grid level and route airspace corresponding to each route, the airspace division result is obtained by step-by-step division, and based on the airspace division result and obstacle airspace, the airspace division result is encoded.
[0107] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.
[0108] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the adaptive airspace division method provided by the above methods, the method includes the following steps: Generate route airspace based on route network, and generate obstacle airspace based on obstacle related data; Based on the route attributes of each route in the route network, the maximum grid level corresponding to each route is determined; the maximum grid level corresponds to the minimum three-dimensional grid volume size; Based on the maximum grid level and route airspace corresponding to each route, the airspace division result is obtained by step-by-step division, and based on the airspace division result and obstacle airspace, the airspace division result is encoded.
[0109] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the adaptive spatial division method provided by the above methods is implemented, and the method comprises the following steps: Generate route airspace based on route network, and generate obstacle airspace based on obstacle related data; Based on the route attributes of each route in the route network, the maximum grid level corresponding to each route is determined; the maximum grid level corresponds to the minimum three-dimensional grid volume size; Based on the maximum grid level and route airspace corresponding to each route, the airspace division result is obtained by step-by-step division, and based on the airspace division result and obstacle airspace, the airspace division result is encoded.
[0110] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.
[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. An adaptive spatial domain partitioning method, characterized in that: include: Generate route airspace based on route network, and generate obstacle airspace based on obstacle related data; Determining a maximum grid level corresponding to each route based on route attributes of each route in the route network; The maximum grid level corresponds to the smallest three-dimensional grid volume size; Based on the maximum grid level corresponding to each route and the route airspace, the airspace is divided step by step to obtain an airspace division result, and based on the airspace division result and the obstacle airspace, the airspace division result is encoded.
2. The adaptive spatial domain division method according to claim 1, characterized in that: Based on the route attributes of each route in the route network, the maximum grid level corresponding to each route is determined, specifically including: Determine the correspondence between different mesh levels and different three-dimensional mesh body sizes; wherein the smaller the mesh level, the larger the three-dimensional mesh body size; Based on the aircraft size of each route in the route network and the corresponding relationship, a maximum grid level corresponding to each route is determined.
3. The adaptive spatial domain division method according to claim 2, characterized in that: Based on the maximum grid level corresponding to each route and the route airspace, the airspace partitioning result is obtained, which specifically includes: The maximum grid level corresponding to each route is used as the maximum grid level of the partitioning process, and the partitioning is performed step by step in the order of the grid levels from small to large; If there is an overlapping part between the current three-dimensional grid volume and the airway airspace, the current three-dimensional grid volume is segmented; otherwise, the current three-dimensional grid volume is not segmented; Based on the segmented three-dimensional grid volume, an airspace segmentation result corresponding to the route airspace is obtained.
4. The adaptive spatial domain division method according to claim 3, characterized in that: Based on the airspace segmentation result and the obstacle airspace, the airspace division result is obtained by encoding, specifically including: Based on the obstacle airspace, determining the airspace type of each three-dimensional grid body in the airspace segmentation result; For any three-dimensional grid body of the maximum level, determining whether the any three-dimensional grid body has an overlapping area with the obstacle airspace; In the case where the arbitrary three-dimensional grid body and the obstacle airspace have an overlapping area, the airspace type of the arbitrary three-dimensional grid body is classified as the overlapping obstacle airspace type; otherwise, the airspace type of the arbitrary three-dimensional grid body is classified as the flyable airspace type; Based on the spatial type of each three-dimensional grid volume in the spatial partitioning result, the spatial partitioning result is encoded.
5. The adaptive spatial domain division method according to any one of claims 1 to 4, characterized in that: Generate route airspace based on route network, including: Determining the horizontal plane area of each route in the route network based on the azimuth angle and the set width between the route nodes in the route network; Determining the cubic area of each of the routes based on the horizontal plane area and the set altitude; The cubic areas of the various routes are spliced together to obtain the route airspace of the route network.
6. The adaptive spatial domain division method according to any one of claims 1 to 4, characterized in that: Generate obstacle airspace based on obstacle-related data, including: Determine the cubic area of each obstacle based on the minimum longitude, maximum longitude, minimum latitude, maximum latitude, minimum altitude and maximum altitude of each obstacle; The cubic areas of the obstacles are spliced together to obtain the obstacle airspace.
7. An adaptive spatial division device, characterized in that: include: Generate airspace module, used to generate route airspace based on route network and generate obstacle airspace based on obstacle related data; A level determination module, used for determining a maximum grid level corresponding to each route based on the route attribute of each route in the route network; The maximum grid level corresponds to the smallest three-dimensional grid volume size; The airspace division module is used to perform step-by-step division based on the maximum grid level corresponding to each route and the route airspace to obtain an airspace division result, and encode the airspace division result based on the airspace division result and the obstacle airspace.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the adaptive spatial domain division method according to any one of claims 1 to 6 is implemented.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the adaptive spatial domain division method as claimed in any one of claims 1 to 6 is implemented.
10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the adaptive spatial domain division method as claimed in any one of claims 1 to 6 is implemented.