Method and device for evaluating airspace division result, electronic equipment and medium

Abstract

The invention relates to the technical field of flight management, and provides a method and device for evaluating an airspace division result, electronic equipment and a computer readable storage medium, and the method comprises the steps: determining an evaluation index participating in the airspace division result according to an airspace use purpose based on the airspace division result; calculating an index evaluation value corresponding to each evaluation index; and evaluating the airspace division result according to the index evaluation value and a preset weight value corresponding to each evaluation index. According to the embodiment of the invention, various evaluation indexes are comprehensively considered, and the airspace division result is comprehensively and objectively evaluated, so that a basis is provided for optimization and decision making, the scientificity and correctness of airspace division are improved, and the flight safety risk is reduced.

Description

Technical Field

[0001] This application relates to the technical field of flight management. Specifically, it relates to a method, device, electronic device, and computer-readable storage medium for evaluating the airspace division result. Background Art

[0002] Currently, the low-altitude airspace contains broad applications and prospects. With the booming development of the low-altitude economy mainly composed of industries such as consumer drones, industrial drones, urban air mobility, and general aviation helicopters, new challenges have been posed to the traffic management and planning of the low-altitude airspace.

[0003] The continuous advancement of urbanization has made the urban airspace more crowded. The low-altitude area is full of obstacles such as buildings and no-fly zones and is constantly changing. At the same time, different regions of the city have different characteristics. For example, regions with more residential areas are sensitive to the noise of aircraft, and regions with a large ground traffic flow have extremely high requirements for the safety of aircraft. In this case, the precise and reasonable delineation of the airspace must consider urban environmental information and its dynamic changes to ensure the coordinated operation of drones and other urban elements.

[0004] With the rapid development of drone technology, various applications of drones in the urban environment have also been increasing, including logistics, inspection, performance, etc. At the same time, with the increase in the urban population, the demand for transportation has been growing continuously. As an emerging means of transportation, drones need to operate orderly in the urban airspace. Therefore, the necessity of low-altitude airspace division has been affected by the development of transportation. At the same time, after obtaining the airspace division result, how to select the optimal division plan to cope with the changes in the traffic flow of the divided airspace, as well as airspace resource waste or congestion, has also become an urgent problem to be solved currently. Summary of the Invention

[0005] This application proposes a method, device, electronic device, and computer-readable storage medium for evaluating the airspace division result to solve the problem in the prior art that the division result of the low-altitude airspace needs to be evaluated.

[0006] According to one aspect of this application, a method for evaluating the airspace division result is proposed, including: based on the airspace division result of the airspace, determining the evaluation indicators participating in the airspace division result according to the purpose of airspace use; calculating the index evaluation value corresponding to each evaluation indicator; and evaluating the airspace division result according to the index evaluation value and the preset weight value corresponding to each evaluation indicator.

[0007] According to some embodiments, the airspace division result includes the three-dimensional geometric shape corresponding to the airspace.

[0008] According to some embodiments, the evaluation metrics include flyability evaluation, and calculating an index evaluation value corresponding to each of the evaluation metrics includes: calculating the index evaluation value according to the flyability of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace division result.

[0009] According to some embodiments, the index evaluation value includes a statistical value of flyability, and the statistical value includes an average value of flyability and / or a mean square deviation of flyability.

[0010] According to some embodiments, the evaluation metrics include compliance evaluation of multiple rules, and calculating an index evaluation value corresponding to each of the evaluation metrics includes: calculating a rule violation penalty score corresponding to the airspace according to a violation penalty score of each preset rule; calculating the index evaluation value according to the rule violation penalty score.

[0011] According to some embodiments, calculating the rule violation penalty score corresponding to the airspace according to the violation penalty score of each preset rule includes: determining a geometric unit violation penalty score corresponding to each three-dimensional geometric shape in the airspace division result according to the violation penalty score of each preset rule; calculating the rule violation penalty score corresponding to the airspace according to the geometric unit violation penalty score.

[0012] According to some embodiments, calculating the index evaluation value according to the rule violation penalty score includes: calculating a rule statistical value corresponding to the airspace according to the rule violation penalty score; calculating the index evaluation value according to the rule statistical value.

[0013] According to some embodiments, the evaluation metrics include preference evaluation, and calculating an index evaluation value corresponding to each of the evaluation metrics includes: performing multiple preference evaluations on the airspace corresponding to each three-dimensional geometric shape in the airspace division result to obtain multiple preference evaluation values; calculating the index evaluation value by using the multiple preference evaluation values according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations.

[0014] According to some embodiments, calculating the index evaluation value by using the multiple preference evaluation values according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations includes: Calculating a preference statistical value by using the preference weight value corresponding to each preference evaluation in the multiple preference evaluations and a preset preference weight; calculating the index evaluation value by using the preference statistical value.

[0015] According to some embodiments, the multiple preference evaluations include space utilization rate evaluation, which is calculated by the following formula: , where U is the space utilization rate, is the airspace volume corresponding to the three-dimensional geometric shape in the airspace division result, is the total airspace volume corresponding to the airspace.

[0016] According to some embodiments, the evaluation metrics include flyability evaluation, compliance evaluation of multiple rules, and / or multiple preference evaluations, and calculating an index evaluation value corresponding to each of the evaluation metrics, including: calculating a first evaluation value according to the flyability of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace division result; calculating a second evaluation value according to the compliance evaluation of multiple rules of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace division result; calculating a third evaluation value according to the multiple preference evaluations of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace division result; calculating the index evaluation value according to the first evaluation value, the second evaluation value, and / or the third evaluation value.

[0017] According to an aspect of the present application, a device for evaluating an airspace division result is proposed, including: an evaluation metric determination unit for determining evaluation metrics involved in the airspace division result based on the airspace division result of the airspace; an index evaluation value calculation unit for calculating an index evaluation value corresponding to each of the evaluation metrics; and an airspace division result evaluation unit for evaluating the airspace division result according to the index evaluation value and a preset weight value corresponding to each of the evaluation metrics.

[0018] According to an aspect of the present application, an electronic device is proposed, characterized by including: a processor; a memory for storing a computer program; when the computer program is executed by the processor, the processor is caused to implement the method described in any of the previous embodiments.

[0019] According to an aspect of the present application, a non-transitory computer-readable storage medium is proposed, on which computer-readable instructions are stored, and when the instructions are executed by a processor, the processor is caused to execute the method described in any of the previous embodiments.

[0020] According to the exemplary embodiments of the present application, by comprehensively considering various evaluation metrics, the airspace division result is comprehensively and objectively evaluated, thereby providing a basis for airspace optimization and management decision-making, improving the scientificity and correctness of airspace planning, and reducing flight safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments.

[0022] Figure 1 Shows a flowchart of a method for evaluating an airspace division result according to an exemplary embodiment of the present application.

[0023] Figure 2 Shows a flowchart of a method for evaluating flyability according to an exemplary embodiment of the present application.

[0024] Figure 3 Shows a flowchart of a method for evaluating rule compliance according to an exemplary embodiment of the present application.

[0025] Figure 4 Shows a flowchart of a method for evaluating preferences according to an exemplary embodiment of the present application.

[0026] Figure 5 Shows a flowchart of a method for evaluating the result of airspace division according to an exemplary embodiment of the present application.

[0027] Figure 6 Shows a block diagram of a device for evaluating the result of airspace division according to an exemplary embodiment of the present application.

[0028] Figure 7 Shows an electronic device according to an exemplary embodiment of the present application. Detailed implementation manners

[0029] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar parts, and thus their repetitive description will be omitted.

[0030] The features, structures, or characteristics described may be combined in one or more embodiments in any suitable manner. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of these specific details, or in other ways, components, materials, devices, or operations, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0031] The flowcharts shown in the accompanying drawings are only illustrative and not necessarily include all the contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0032] In the description and claims of this application, as well as in the above-mentioned drawings, terms such as "first" and "second" are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0033] High-altitude airspace management usually adopts a rigid airspace division method, dividing the airspace into different regions in the vertical and horizontal directions. Different from high-altitude airspace, the airspace in the urban scenario is greatly affected by ground environmental factors, and it is necessary to fully consider different conditions at different times and in different regions in the urban scenario, including airspace conditions, building density conditions, ground traffic flow conditions, etc. At the same time, the rigid division method cannot flexibly adapt to traffic changes. Especially in the case of a sharp increase or decrease in traffic flow, due to the inability to dynamically adjust the airspace division structure in real time, the airspace utilization efficiency may be low. To overcome these shortcomings, future air traffic management systems may require more flexible and intelligent airspace division and management methods to adapt to the changing aviation environment.

[0034] The inventors of this application have found that since the low-altitude airspace environment is more complex than high-altitude airspace management, it is necessary to evaluate the division results to determine whether the division results meet the low-altitude management requirements and business needs, so as to provide a basis for optimization and decision-making.

[0035] According to the embodiments of this application, by comprehensively considering various evaluation indicators, a comprehensive and objective evaluation of the airspace division results is carried out, thus providing a basis for optimization and decision-making, improving the scientificity and correctness of airspace planning, and reducing the flight safety risk.

[0036] It should be noted here that the embodiments of this application are applicable to the evaluation of high-altitude airspace division results, and can also be used for the evaluation of low-altitude airspace division results, or the evaluation of marine space division results. However, since the terrain involved in low-altitude airspace is more complex and there are more spatial requirements, the embodiments of this application are particularly more applicable to the evaluation of low-altitude airspace division results. For the sake of simplicity, the following will, with reference to the drawings, take the evaluation of low-altitude airspace division results as an example to elaborate on the specific embodiments according to this application in detail.

[0037] Figure 1 A flowchart of a method for evaluating airspace division results according to an exemplary embodiment of this application is shown, as Figure 1 The method shown includes steps S101, S103, and S105. The following will take Figure 1For example, a method for evaluating the airspace division result according to an exemplary embodiment of the present application will be described in detail.

[0038] In step S101, based on the airspace division result of the airspace, determine the evaluation indicators for participating in the airspace division result according to the purpose of airspace use.

[0039] In a specific embodiment, the purposes of airspace use include logistics, sightseeing, emergency rescue, etc. For different purposes of airspace use, the priorities of the evaluation indicators are different. For example, if it is for logistics services, attention should be paid to transportation efficiency and cargo safety; if it is for sightseeing purposes, the scenic area and tourist safety should be considered.

[0040] According to the embodiments of the present application, the evaluation indicators include, but are not limited to, flyability measure evaluation, compliance evaluation of multiple rules, and / or preference evaluation.

[0041] In step S103, calculate the index evaluation value corresponding to each evaluation indicator.

[0042] According to the embodiments of the present application, the airspace division result includes the three-dimensional geometric shape corresponding to the airspace and / or the relationship between the three-dimensional geometric shapes included in the divided airspace. In a specific embodiment, the three-dimensional geometric shape includes typical three-dimensional geometric shapes and combinations of these three-dimensional geometric shapes. Among them, the relationship between the three-dimensional geometric shapes is used to represent the positional relationship between multiple three-dimensional geometric shapes. Among them, the positional relationship between multiple three-dimensional geometric shapes includes, but is not limited to, inclusion relationship, adjacent relationship, and / or connectivity relationship.

[0043] In some embodiments, the typical three-dimensional geometric shape is a three-dimensional geometric shape that can be represented by a geometric expression in a specified coordinate system. For example, a sphere, a cylinder, a cone, a frustum of a cone, a cube, an ellipsoid, and / or various polyhedrons.

[0044] It should be noted here that the airspace division result may include a complete three-dimensional geometric shape or a partial shape of the three-dimensional geometric shape.

[0045] According to the embodiments of the present application, when the evaluation indicator is flyability measure evaluation, first calculate the flyability measure at the corresponding position of each three-dimensional geometric shape included in the airspace division result, and then calculate the statistical value of multiple three-dimensional geometric shapes to obtain the index evaluation value.

[0046] In a specific embodiment, the flyability measure evaluation includes multiple sub-indicators, such as whether the airspace is occupied, the distance between the airspace and the nearest obstacle, and / or the communication coverage rate or intensity of the airspace.

[0047] According to some other embodiments, when the evaluation index is the compliance evaluation of multiple rules, for example, when the set rule is the no-fly zone rule, first, according to the preset no-fly zone rule, determine the penalty score of each rule included in each three-dimensional geometric shape; then, according to the determined penalty scores, calculate the statistical value of the penalty scores to obtain the index evaluation value.

[0048] According to some other embodiments, when the evaluation index is the preference evaluation, first, perform multiple preference evaluations on the airspace corresponding to each three-dimensional geometric shape in the airspace division result to obtain multiple preference evaluation values; then, according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations, calculate the index evaluation value by using the multiple preference evaluation values.

[0049] According to the embodiments of the present application, the multiple preference evaluations include the space utilization evaluation, the flight conflict times evaluation, and / or the flight smoothness evaluation.

[0050] In step S105, evaluate the airspace division result according to the index evaluation value and the preset weight value corresponding to each evaluation index.

[0051] According to the embodiments of the present application, comprehensively evaluate the airspace division result by using multiple index evaluation values.

[0052] In a specific embodiment, different weight values are assigned to different evaluation indexes in the manner shown in formula (1) to highlight the importance of different evaluation indexes.

[0053] For example, assume that the evaluation indexes include the flyability measure evaluation, the compliance evaluation of multiple rules, and the preference evaluation, and the corresponding weight values of these evaluation indexes are a, b, and c respectively, and satisfy a + b + c = 1, and the comprehensive index evaluation value is as shown in formula (1).

[0054] E = aM fly -bS rule +cS pref (1) wherein, the larger the value of E, the better the effect of the airspace division result. M fly is the flyability measure evaluation, S rule is the compliance evaluation of multiple rules, and S pref is the preference evaluation.

[0055] According to Figure 1 the embodiments shown, by comprehensively considering various evaluation indexes, a comprehensive and objective evaluation of the airspace division result is carried out, thereby providing a basis for optimization and decision-making, improving the scientificity and correctness of airspace delimitation, and reducing the flight safety risk.

[0056] When the evaluation index is flyability measurement evaluation, according to the embodiments of the present application, the index evaluation value is calculated based on the flyability of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace division result. Figure 2 FIG. shows a flowchart of a method for flyability measurement evaluation according to an exemplary embodiment of the present application, as Figure 2 The method shown includes steps S201 and S203.

[0057] In step S201, the flyability of the positions corresponding to each three-dimensional geometric shape included in the airspace division result is calculated.

[0058] In a specific embodiment, the airspace division result is represented by a four-dimensional digital base in Application No. 202410781151.9. Among them, the four-dimensional digital base takes the unified standardized four-dimensional airspace data as input. According to different functional categories to be calculated, different functional calculation functions are used to describe the specified functional information on this four-dimensional space-time coordinate, and according to the input four-dimensional space-time coordinate and the calculation result of the specified function, the fusion information corresponding to the four-dimensional space-time coordinate position is output to generate the four-dimensional digital base.

[0059] In some embodiments, the functional calculation function is expressed in the form of f_function(x, y, z, t). Each four-dimensional space-time coordinate position (x, y, z, t) represents various specified functional information of this four-dimensional space-time coordinate position through multiple types of functional calculation functions f_function(x, y, z, t) to realize the fusion calculation of the four-dimensional airspace data. Among them, the four-dimensional space-time coordinate position (x, y, z, t) can adopt a discretized representation method or a continuous representation method of coordinates.

[0060] For example, when the specified function is to describe the flyability measurement evaluation of the aircraft at this four-dimensional coordinate, the index evaluation value is calculated based on the flyability of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace division result.

[0061] In a specific embodiment, the flyability measurement evaluation includes multiple sub-indicators. For example, whether the airspace is occupied, the distance between the airspace and the nearest obstacle, and / or the communication coverage rate or intensity of the airspace.

[0062] The functional calculation function at the coordinate position is as shown in formula (2).

[0063] f{flyability}(x, y, z, t)=(1−f{occupancy}(x, y, z, t))×normalized(W1⋅f{SDF}(x, y, z, t)+W2⋅f{communication}(x, y, z, t)+…+WN⋅f{N}(x, y, z, t)) (2); Among them, f{occupancy}(x, y, z, t) represents whether the airspace is occupied at time t, f{SDF}(x, y, z, t) represents the distance between the airspace and the nearest obstacle at time t, f{communication}(x, y, z, t) represents the communication coverage rate or intensity of the airspace at time t, WN⋅f{N}(x, y, z, t) is the Nth flyability measure evaluation index, W1, W2, …, WN represent the weights corresponding to each flyability measure evaluation index, and (x, y, z, t) represents each spatial and temporal coordinate position of the airspace at time t. f{flyability measure}(x, y, z, t) represents the flyability measure function at the coordinate position at time t. Normalized represents the normalization function.

[0064] In step S203, calculate the statistical values of multiple three-dimensional geometric shapes to obtain the index evaluation value.

[0065] According to the embodiments of the present application, after obtaining the flyability measure of each coordinate position corresponding to the three-dimensional geometric shape, it is also necessary to calculate the statistical values of the multiple three-dimensional geometric shapes included in the region to obtain the index evaluation value. The index evaluation value includes the statistical value of the flyability measure, where the statistical value includes the average value and / or the mean square deviation of the flyability measure. It should be noted that the statistical value includes but is not limited to the average value and / or the mean square deviation of multiple three-dimensional geometric shapes, and other statistical value calculation methods can also be used.

[0066] For example, assume that there are n three-dimensional geometric shapes in the region, and their corresponding coordinate positions are (x i , y i , z i , t i ), i == 1, 2, …, n, the flyability measure function is f{flyability measure}(x, y, z, t), and the average value of the flyability measures of the coordinate positions corresponding to the n three-dimensional geometric shapes is used as the index evaluation value, as shown in formula (3).

[0067] (3); Among them, M fly is the index evaluation value. The closer it is to 1, the higher the overall flight suitability of the airspace division result.

[0068] According to Figure 2 the embodiments shown, by evaluating the flyability measure of the division result, it is possible to evaluate whether the airspace in the airspace division result is occupied, the distance between the airspace and the nearest obstacle, and / or the communication coverage rate or intensity of the airspace.

[0069] When the evaluation index is the compliance evaluation of multiple rules, first, according to the violation penalty scores of each preset rule, calculate the rule violation penalty scores corresponding to the airspace; then, calculate the index evaluation value according to the rule violation penalty scores. Figure 3 FIG. shows a flowchart of a method for rule compliance evaluation according to an exemplary embodiment of the present application, as Figure 3 The method shown includes steps S301 and S303.

[0070] In step S301, according to the violation penalty scores of each preset rule, calculate the rule violation penalty scores corresponding to the airspace; As described above, the airspace division result includes a plurality of three-dimensional geometric shapes, and the airspace division result is represented by a four-dimensional digital base.

[0071] According to an embodiment of the present application, in step S301, first, according to the violation penalty scores of each preset rule, determine the geometric unit violation penalty scores corresponding to each three-dimensional geometric shape in the airspace division result; then, calculate the rule violation penalty scores corresponding to the airspace according to the geometric unit violation penalty scores.

[0072] For example, assume that the preset rule is a no-fly zone rule, and the geometric unit violation penalty scores corresponding to the m three-dimensional geometric shapes in the airspace division result are Pnofly1, Pnofly2,..., Pnoflym respectively. According to the violation penalty scores of each preset rule, determine the geometric unit violation penalty scores corresponding to the m three-dimensional geometric shapes.

[0073] In step S303, calculate the index evaluation value according to the rule violation penalty scores.

[0074] After obtaining the rule violation penalty scores corresponding to each rule in the airspace division result, according to an embodiment of the present application, it is also necessary to calculate the rule statistical value corresponding to the airspace according to the rule violation penalty scores; and calculate the index evaluation value according to the rule statistical value.

[0075] For example, assume that the preset rule is a no-fly zone rule, and the geometric unit violation penalty scores corresponding to the m three-dimensional geometric shapes in the airspace division result are Pnofly1, Pnofly2,..., Pnoflym respectively. Sum the geometric unit violation penalty scores corresponding to the m three-dimensional geometric shapes as the rule statistical value corresponding to the airspace, as shown in formula (4).

[0076] (4); Wherein, is the calculated rule statistical value, and m is a positive integer greater than or equal to 1.

[0077] When there are multiple preset rules in the corresponding airspace division result, the index evaluation value needs to be calculated according to the statistical values of multiple rules.

[0078] For example, assuming that the preset rules include not only the no-fly zone rule but also the altitude rule. In a specific embodiment, the sum of the rule statistical values corresponding to the no-fly zone rule and the altitude rule is used as the index evaluation value, as shown in formula (5).

[0079] Srule = Snofly + Sheight (5); Wherein, Srule is the calculated index evaluation value, Snofly is the no-fly zone rule statistical value, and Sheight is the altitude rule statistical value.

[0080] According to Figure 3 the embodiment shown, by determining the geometric unit violation penalty score corresponding to each three-dimensional geometric shape, the violation degree of the airspace division method is evaluated.

[0081] Figure 4 shows a method flow chart of a preference evaluation according to an exemplary embodiment of the present application, as Figure 4 shown, the method includes steps S401 and S403.

[0082] As described above, the airspace division result includes multiple three-dimensional geometric shapes, and the airspace division result is represented by a four-dimensional digital base.

[0083] In step S401, multiple preference evaluations are performed according to the airspace corresponding to each three-dimensional geometric shape in the airspace division result, and multiple preference evaluation values are obtained.

[0084] According to the embodiment of the present application, the multiple preference evaluations include space utilization evaluation, flight conflict times evaluation, and / or flight smoothness evaluation. Among them, the space utilization evaluation is to evaluate the space utilization rate of the airspace, the flight conflict times evaluation is to evaluate the number of flight conflicts occurring in the airspace, and the flight smoothness evaluation is to evaluate the flight smoothness in the airspace.

[0085] In step S403, according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations, the index evaluation value is calculated using the multiple preference evaluation values.

[0086] According to the embodiment of the present application, in step S403, first, according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations, the preference statistical value is calculated using the preset preference weight.

[0087] For example, for the space utilization evaluation, the preference evaluation value is calculated by formula (6).

[0088] (6); Wherein, U is the space utilization rate. The higher U is, the more it conforms to the design preference and the better the space utilization rate is. is the airspace volume corresponding to the three-dimensional geometric shape in the airspace division result. is the total airspace volume corresponding to the airspace.

[0089] After obtaining the preference statistical value, it is also necessary to calculate the index evaluation value using the preference statistical value.

[0090] For another example, assume that multiple preference evaluation sets are {I1, I2,..., I k }, k is the number of preference evaluations, and the corresponding weights are {w1, w2, w3,..., w k }, and the calculated index evaluation value is shown in formula (7).

[0091] (7); Wherein, Spref is the calculated index evaluation value.

[0092] According to Figure 4 the embodiments shown, by performing preference evaluation on the division result, the degree to which the airspace division result meets the division requirements is evaluated.

[0093] Figure 5 shows a flowchart of an evaluation method for an airspace division result according to an exemplary embodiment of the present application. The method shown in Figure 5 includes steps S501, S503, S505, and S507.

[0094] According to the embodiments of the present application, the evaluation indicators include flyability measure evaluation, compliance evaluation of multiple rules, and multiple preference evaluations.

[0095] As Figure 5 shown, in step S501, a first evaluation value is calculated according to the flyability measure of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result.

[0096] Since the method of calculating the first evaluation value in step S501 is the same as that of Figure 2 calculating the flyability measure evaluation, it will not be elaborated here.

[0097] In step S503, a second evaluation value is calculated according to the compliance evaluation of multiple rules of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result.

[0098] Since the method of calculating the second evaluation value in step S501 is the same as that of Figure 3 calculating the rule compliance evaluation, it will not be elaborated here.

[0099] In step S505, a third evaluation value is calculated according to multiple preference evaluations of the coordinate positions corresponding to each three-dimensional geometric shape in the airspace division result.

[0100] Since the method for calculating the third evaluation value in step S503 is the same as Figure 4 the method for calculating the preference evaluation, it will not be elaborated here.

[0101] In step S507, an index evaluation value is calculated according to the first evaluation value, the second evaluation value, and / or the third evaluation value.

[0102] It should be noted here that in a specific embodiment, one, two, or three of the first evaluation value, the second evaluation value, and the third evaluation value can be selected to evaluate the airspace division result. When the first evaluation value, the second evaluation value, and the third evaluation value are selected to evaluate the airspace division result, step S507 calculates the index evaluation value using formula (1).

[0103] The above mainly introduces the embodiments of the present application from the perspective of the method. Those skilled in the art should easily realize that, combined with the operations or steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Those skilled in the art can use different methods to implement the described functions for each specific operation or method, and such implementation should not be considered to exceed the scope of the present application.

[0104] The device embodiments of the present application will be described below. For details not described in the device embodiments of the present application, reference can be made to the method embodiments of the present application.

[0105] Figure 6 A block diagram of a device for evaluating an airspace division result according to an exemplary embodiment of the present application is shown. As Figure 6 shown, the device includes an evaluation index determination unit 601, an index evaluation value calculation unit 603, and an airspace division result evaluation unit 605. Among them, the evaluation index determination unit 601 is used to determine the evaluation indexes participating in the airspace division result based on the airspace division result of the airspace; the index evaluation value calculation unit 603 is used to calculate the index evaluation value corresponding to each of the evaluation indexes; the airspace division result evaluation unit 605 is used to evaluate the airspace division result according to the index evaluation value and the preset weight value corresponding to each of the evaluation indexes.

[0106] Figure 7 An electronic device according to an exemplary embodiment of the present application is shown. The following will refer to Figure 7 to describe the electronic device 200 according to this embodiment of the present application. Figure 7 The shown electronic device 200 is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

[0107] As shown Figure 7 in the figure, the electronic device 200 is presented in the form of a general computing device. The components of the electronic device 200 may include, but are not limited to: at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including the storage unit 220 and the processing unit 210), a display unit 240, etc.

[0108] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 210, so that the processing unit 210 executes the methods according to various exemplary embodiments of the present application described in this specification. For example, the processing unit 210 can execute the method as described above.

[0109] The storage unit 220 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 2201 and / or a cache 2202, and may further include a read-only storage unit (ROM) 2203.

[0110] The storage unit 220 may further include a program / utility 2204 having a set (at least one) of program modules 2205. Such program modules 2205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0111] The bus 230 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0112] The electronic device 200 can also communicate with one or more external devices 300 (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 200, and / or communicate with any device that enables the electronic device 200 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 250. And, the electronic device 200 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 260. The network adapter 260 can communicate with other modules of the electronic device 200 through the bus 230. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0113] From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software or by a combination of software and necessary hardware. The technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above method according to the embodiments of the present application.

[0114] The software product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0115] The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries readable program code (including computer-readable instructions stored thereon). When the above one or more programs are executed by a device, the computer-readable storage medium realizes the foregoing functions. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted by any appropriate medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0116] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or, it can be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0117] The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the computer-readable medium implements the foregoing functions.

[0118] Those skilled in the art can understand that the above-mentioned modules can be distributed in the device according to the description of the embodiment, or can be correspondingly changed and distributed in one or more devices that are uniquely different from this embodiment. The modules of the above embodiment can be combined into one module, or can be further split into multiple sub-modules.

[0119] According to an embodiment of the present application, a computer program is provided, including a computer program or instruction, and when the computer program or instruction is executed by a processor, it can execute the method described above.

[0120] The above embodiments of the present application have been introduced in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. At the same time, changes or deformations made by those skilled in the art based on the idea of the present application, within the specific implementation manner and application scope of the present application, all belong to the protection scope of the present application. In summary, the content of this specification should not be construed as a limitation of the present application.

[0121] Those skilled in the art can understand that the above-mentioned modules can be distributed in the device according to the description of the embodiment, or can be correspondingly changed and distributed in one or more devices that are uniquely different from this embodiment. The modules of the above embodiment can be combined into one module, or can be further split into multiple sub-modules.

[0122] The above has introduced the embodiments of the present application in detail. Specific examples are used herein to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only for helping to understand the method of the present application and its core idea. At the same time, any changes or deformations made by those skilled in the art based on the idea of the present application, within the specific implementation manner and application scope of the present application, fall within the protection scope of the present application. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for evaluating the result of airspace division, characterized in that, Including: Based on the airspace division result in the airspace domain, determine the evaluation indicators participating in the airspace division result according to the purpose of airspace use; Calculate the index evaluation value corresponding to each of the evaluation indicators; Evaluate the airspace division result according to the index evaluation value and the preset weight value corresponding to each of the evaluation indicators.

2. The method according to claim 1, characterized in that, The airspace division result includes the three-dimensional geometric shape corresponding to the airspace.

3. The method according to claim 2, wherein The evaluation indicators include flyability measure evaluation, and calculating the index evaluation value corresponding to each of the evaluation indicators includes: Calculate the index evaluation value according to the flyability measure of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result.

4. The method according to claim 3, wherein The index evaluation value includes the statistical value of the flyability measure, and the statistical value includes the average value of the flyability measure and / or the mean square deviation of the flyability measure.

5. The method according to claim 2, wherein The evaluation indicators include compliance evaluation of multiple rules, and calculating the index evaluation value corresponding to each of the evaluation indicators includes: Calculate the rule violation penalty score corresponding to the airspace according to the violation penalty score of each preset rule; Calculate the index evaluation value according to the rule violation penalty score.

6. The method according to claim 5, characterized in that, Calculating the rule violation penalty score corresponding to the airspace according to the violation penalty score of each preset rule includes: Determine the geometric unit violation penalty score corresponding to each three-dimensional geometric shape in the airspace division result according to the violation penalty score of each preset rule; Calculate the rule violation penalty score corresponding to the airspace according to the geometric unit violation penalty score.

7. The method according to claim 6, characterized in that, Calculating the index evaluation value according to the rule violation penalty score includes: Calculate the rule statistical value corresponding to the airspace according to the rule violation penalty score; Calculate the index evaluation value according to the rule statistical value.

8. The method according to claim 2, wherein The evaluation indicators include preference evaluation, and calculating the index evaluation value corresponding to each of the evaluation indicators includes: Conduct multiple preference evaluations on the airspace corresponding to each three-dimensional geometric shape in the airspace division result to obtain multiple preference evaluation values; Calculate the index evaluation value by using the multiple preference evaluation values according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations.

9. The method according to claim 8, characterized in that, Calculating the index evaluation value by using the multiple preference evaluation values according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations includes: Calculate the preference statistical value by using the preset preference weight according to the preference weight value corresponding to each preference evaluation in the multiple preference evaluations; Calculate the index evaluation value by using the preference statistical value.

10. The method according to claim 8, characterized in that, The multiple preference evaluations include space utilization rate evaluation, which is calculated by the following formula: ， where U is the space utilization rate, is the airspace volume corresponding to the three-dimensional geometric shape in the airspace division result, is the total airspace volume corresponding to the airspace.

11. The method according to claim 2, characterized in that, The evaluation indicators include flyability measure evaluation, compliance evaluation of multiple rules, and / or multiple preference evaluations, and calculating the index evaluation value corresponding to each of the evaluation indicators includes: Calculate the first evaluation value according to the flyability measure of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result; Calculate the second evaluation value according to the compliance evaluation of multiple rules of the coordinate position corresponding to each three-dimensional geometric shape in the airspace division result; Calculate a third evaluation value according to a plurality of preference evaluations corresponding to the coordinate positions of each three-dimensional geometric shape in the airspace division result; Calculate the index evaluation value according to the first evaluation value, the second evaluation value, and / or the third evaluation value.

12. An apparatus for evaluating the result of airspace division, characterized in that, Comprising: An evaluation index determination unit, configured to determine an evaluation index participating in the airspace division result according to the purpose of airspace use based on the airspace division result of the airspace; An index evaluation value calculation unit, configured to calculate an index evaluation value corresponding to each of the evaluation indexes; An airspace division result evaluation unit, configured to evaluate the airspace division result according to the index evaluation value and a preset weight value corresponding to each of the evaluation indexes.

13. An electronic device, characterized in that, Comprising: A processor; A memory, configured to store a computer program; When the computer program is executed by the processor, the processor is caused to implement the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, on which computer-readable instructions are stored, and when the instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 11.

Images