Method and device for dividing airspace, electronic equipment and computer readable storage medium

Abstract

The invention relates to the technical field of flight management, and provides an airspace division method and device, electronic equipment and a computer readable storage medium, and the method comprises the steps: determining airspace data corresponding to airspace division in response to an airspace division instruction, and the airspace division instruction comprises an airspace use purpose; dividing the airspace data according to an airspace use purpose to obtain an airspace division result; wherein the airspace division result comprises a first result set and a second result set, the first result set comprises the three-dimensional geometrical shapes corresponding to the airspace data, and the second result set comprises the relationship between the three-dimensional geometrical shapes corresponding to the airspace data. According to the embodiment of the invention, an airspace division standard is provided by dividing the airspace into the set of the general three-dimensional geometrical shapes and giving the position relationship among the general three-dimensional geometrical shapes, so that the interoperability of airspace management is improved, the airspace management and planning work is simplified, and the airspace division efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of flight management, and more particularly, to a method, device, electronic device, and computer-readable storage medium for dividing airspace. Background Art

[0002] Currently, the low-altitude airspace holds vast application 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 filled with 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, areas with more residential areas are sensitive to aircraft noise, and areas with a large ground traffic flow have extremely high requirements for aircraft safety. In this case, the precise and reasonable division of airspace must consider urban environmental information and its dynamic changes to ensure the coordinated operation of drones and other urban elements. However, the existing rigid airspace division methods cannot flexibly respond to traffic flow changes, resulting in waste or congestion of airspace resources. Summary of the Invention

[0004] The present application proposes a method, device, electronic device, and computer-readable storage medium for dividing airspace to solve the problem of low management efficiency caused by inconsistent airspace division standards in the prior art.

[0005] According to one aspect of the present application, a method for dividing airspace is proposed, including: Responding to an airspace division instruction to determine airspace data corresponding to the airspace division, the airspace division instruction including the purpose of airspace use; Dividing the airspace data according to the purpose of airspace use to obtain an airspace division result; Wherein, the airspace division result includes a first result set and a second result set. The first result set includes the three-dimensional geometric shapes corresponding to the airspace data, and the second result set includes the relationships between the three-dimensional geometric shapes corresponding to the airspace data.

[0006] According to some embodiments, the three-dimensional geometric shapes include polyhedrons, spheres, cylinders, frustums of cones, and / or ellipsoids.

[0007] According to some embodiments, the first result set includes geometric information of at least one three-dimensional geometric shape, and the geometric information includes: The spatial position, attitude, scaling degree, and / or airspace attribute value of each three-dimensional geometric shape.

[0008] According to some embodiments, the second result set includes the relative position relationships between any two three-dimensional geometric shapes in the first result set, and the relative position relationships include inclusion relationships, adjacent relationships, and / or connectivity relationships.

[0009] According to some embodiments, the airspace is represented by a four-dimensional digital base.

[0010] According to some embodiments, the airspace data is partitioned according to the purpose of using the airspace to obtain an airspace partitioning result, including: Select at least one three-dimensional geometric shape from a preset general airspace structure according to the purpose of using the airspace; Determine the relationships between the at least one selected three-dimensional geometric shape according to the airspace data represented by the four-dimensional digital base.

[0011] According to some embodiments, the airspace data is partitioned according to the purpose of using the airspace to obtain an airspace partitioning result, including: Determine the partitioning conditions of the airspace; Partition the airspace data according to the partitioning conditions through a preset evaluation function to obtain the airspace partitioning result; Wherein, the partitioning conditions include the purpose of using the airspace, and also include the airspace partitioning range, the purpose of using the airspace, and / or the airspace attribute value.

[0012] According to some embodiments, partitioning the airspace data according to the partitioning conditions through a preset evaluation function to obtain the airspace partitioning result, including: Partition the airspace data according to the partitioning conditions through a preset evaluation function by a search algorithm or a Transformer algorithm to obtain the airspace partitioning result.

[0013] According to some embodiments, the search algorithm includes the A* algorithm, genetic algorithm, simulated annealing algorithm, and / or ant colony algorithm.

[0014] According to some embodiments, partitioning the airspace data according to the partitioning conditions through a preset evaluation function to obtain the airspace partitioning result, including: Partition the airspace data according to the partitioning conditions to obtain at least one airspace partitioning result; Calculate the evaluation value corresponding to each airspace partitioning result through a preset evaluation function; Determine the optimal airspace partitioning result according to the evaluation value.

[0015] According to some embodiments, the airspace attribute value includes airspace usage rules and / or airspace usage preferences.

[0016] According to some embodiments, the relative position relationship between any two three-dimensional geometric shapes in the first result set is determined by calculating the distance between the coordinate positions of any two three-dimensional geometric shapes.

[0017] According to one aspect of the present application, a device for partitioning airspace is provided, including: An airspace data determination unit, configured to determine airspace data corresponding to airspace partitioning in response to an airspace partitioning instruction, where the airspace partitioning instruction includes the purpose of airspace use; An airspace partitioning unit, configured to partition the airspace data according to the purpose of airspace use to obtain an airspace partitioning result; Wherein, the airspace partitioning result includes a first result set and a second result set, the first result set includes three-dimensional geometric shapes corresponding to the airspace data, and the second result set includes the relationships between the three-dimensional geometric shapes corresponding to the airspace data.

[0018] According to one aspect of the present application, an electronic device is provided, 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 one aspect of the present application, a non-transitory computer-readable storage medium is provided, 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 partitioning the airspace into a set of general three-dimensional geometric shapes and presenting the positional relationships between the general three-dimensional geometric shapes, an airspace partitioning standard is proposed, thereby improving the interoperability of airspace management, simplifying airspace management and planning work, and improving airspace partitioning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0023] Figure 2 Shows a schematic diagram of a method for partitioning airspace data according to the purpose of airspace use according to an exemplary embodiment of the present application.

[0024] Figure 3It shows a schematic diagram of another method for partitioning airspace data according to the purpose of airspace use according to an exemplary embodiment of the present application.

[0025] Figure 4 It shows a block diagram of a device for partitioning airspace according to an exemplary embodiment of the present application.

[0026] Figure 5 It shows an electronic device according to an exemplary embodiment of the present application. Detailed implementation manners

[0027] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary 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 exemplary 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.

[0028] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. 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 can be implemented 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.

[0029] 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 described order. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0030] The terms "first", "second", etc. in the specification and claims of the present application and the above accompanying drawings 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.

[0031] The existing rigid division methods cannot flexibly cope with the changes in traffic flow, resulting in the problems of wasted airspace resources or congestion. In order to effectively manage the airspace, it is necessary to divide the airspace according to a unified standard to improve the interoperability of airspace management, simplify airspace management and planning work, and improve airspace division efficiency.

[0032] This application combines the real-time data of the low-altitude four-dimensional digital base and the airspace design rule library, and can dynamically adjust the airspace division plan according to the actual flight requirements. During the peak period of drone logistics, the automatic planning algorithm can quickly optimize the flight path and airspace allocation, increase the airspace capacity in busy areas, and improve the airspace utilization rate. By evaluating the rationality of the airspace division results, airspace conflict problems can be discovered and solved in a timely manner, further ensuring the efficient operation of the airspace.

[0033] In addition, with the continuous emergence of new types of aircraft such as drones and eVTOL (electric Vertical Take-off and Landing), traditional high-altitude airspace management methods are difficult to adapt to their diverse flight requirements. This application provides a flexible and intelligent airspace division and management method. The design of the general three-dimensional geometric shape of the airspace enables different types of aircraft to find suitable flight spaces. By reasonably setting the attributes and parameters of the basic configurations corresponding to the general three-dimensional geometric shape, the special requirements of new types of aircraft in terms of speed, altitude, maneuverability, etc. can be met. In addition, this application also has good scalability and can be continuously updated and optimized with the development of technology, providing guarantee for the application of more new types of aircraft in the future.

[0034] This application uses a general three-dimensional geometric shape to divide the airspace, and has the following technical effects: 1) Achieve the interoperability of the global aviation system: The general three-dimensional geometric shape provides a unified standard and language for airspace management worldwide. Interoperability ensures that air traffic management systems in different countries and regions can be seamlessly connected, promoting the smooth operation of international aviation.

[0035] For example, shared design standards: Using the general three-dimensional geometric shape provides a unified standard for airspace design, which helps to ensure that airspace management around the world follows the same guidelines and requirements, thereby improving global aviation safety and operation efficiency.

[0036] Another example is to simplify international cooperation: The standardized three-dimensional geometric shape of the airspace promotes international cooperation and information sharing in aviation safety and airspace management, which is particularly important for cross-border flights and international route planning.

[0037] 2) Simplify airspace management and planning, reducing complexity: The general three-dimensional geometric shapes reduce the complexity of designing airspace from scratch by providing a set of predefined spatial models. Airspace planners can select suitable three-dimensional geometric shapes and adjust them according to specific requirements without performing complex geometric calculations. This enables airspace planners to more easily identify, evaluate, and implement airspace configurations, whether for new airspace or when adjusting existing airspace.

[0038] 3) Accelerate the decision-making process and improve efficiency: In emergency situations or rapidly changing air traffic environments, the general airspace configurations can speed up the decision-making process. Managers can quickly select appropriate configuration templates and make necessary adjustments to respond to emergencies or optimize airspace use without having to design from scratch.

[0039] 4) Enhance the predictability of airspace planning, improving transparency and predictability: The general configurations provide a clearly foreseeable flight environment for both flight parties and regulatory parties, helping them better plan flight paths and comply with airspace use rules. This predictability is very important for improving flight safety and reducing air traffic delays.

[0040] 5) Improve the efficiency of airspace division For example, quickly respond to changing needs: As air activities increase and air traffic flow changes, the ability to quickly adjust and reconfigure airspace is required. The general geometric configurations make the adjustment process faster and more flexible, improving the response efficiency to changing needs.

[0041] For another example, simplify management work: The standardized configurations simplify the monitoring, maintenance, and updating of airspace, reducing the workload of air traffic management agencies and improving overall work efficiency.

[0042] It should be noted here that the embodiments of the present application are applicable to both the evaluation of the division results of high-altitude airspace and the evaluation of the division results of low-altitude airspace, or the evaluation of the division results of marine space. However, since the terrain involved in low-altitude airspace is more complex and there are more spatial requirements, the embodiments of the present application are particularly more applicable to the evaluation of the division results of low-altitude airspace.

[0043] For simplicity, the following will, in conjunction with the accompanying drawings, take the evaluation of the division results of low-altitude airspace as an example to elaborate in detail on the specific embodiments according to the present application.

[0044] Figure 1 Shows a flowchart of a method for dividing airspace according to an exemplary embodiment of the present application, as Figure 1 The method shown includes step S101 and step S103. The following will, taking Figure 1 as an example, elaborate in detail on a method for dividing airspace according to an exemplary embodiment of the present application.

[0045] In step S101, in response to an airspace division instruction, airspace data corresponding to the airspace division is determined, and the airspace division instruction includes the purpose of airspace use.

[0046] It should be noted here that in this application, there is no limitation on the specific representation form of the airspace division instruction. As long as it can initiate the operation of determining the airspace data corresponding to the airspace division, it belongs to the protection scope of this application.

[0047] In the embodiments of this application, the airspace data is represented by the four-dimensional digital base in the patent application No. 202410781151.9. The four-dimensional digital base takes the unified and 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 at the four-dimensional space-time coordinates, and according to the input four-dimensional space-time coordinates and the calculation results of the specified functions, the fusion information corresponding to the four-dimensional space-time coordinate positions is output to generate the four-dimensional digital base.

[0048] In some embodiments, the functional calculation function is expressed in the form of f_function(x, y, z, t). At each four-dimensional space-time coordinate position (x, y, z, t), various specified functional information of this four-dimensional space-time coordinate position is represented by multiple types of functional calculation functions f_function(x, y, z, t) to achieve 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. Among them, (x, y, z, t) represents the spatial coordinate position (x, y, z) at time t.

[0049] For example, when the specified function is to describe the flyability evaluation of an aircraft at this four-dimensional coordinate, the index evaluation value is calculated according to the flyability of each three-dimensional geometric shape corresponding coordinate position in the airspace division result.

[0050] In a specific embodiment, the flyability 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.

[0051] The functional calculation function at the coordinate position is as shown in formula (1).

[0052] 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)) (1); Among them, \(f_{occupancy}(x, y, z, t)\) represents whether the airspace is occupied, \(f_{SDF}(x, y, z, t)\) represents the distance from the airspace to the nearest obstacle, \(f_{communication}(x, y, z, t)\) represents the communication coverage rate or intensity of the airspace, \(WN\cdot f_{N}(x, y, z, t)\) is the \(N\)th flyability measure evaluation index, \(W1, W2, \ldots, WN\) represent the weights corresponding to each flyability measure evaluation index, and \((x, y, z, t)\) represents each spatial and temporal coordinate position corresponding to the airspace. \(f_{flyability}(x, y, z, t)\) represents the flyability function calculation function at the coordinate position \((x, y, z)\) at time \(t\). Normalized represents the normalization function.

[0053] According to an embodiment of the present application, before step S101, it is necessary to prepare the data required for the four-dimensional digital base. For example, data such as geographical information, buildings, transportation, meteorology, electromagnetic fields, and population included in the airspace.

[0054] In some embodiments, it is also necessary to clarify no-fly zones, high-risk areas, and suitable flight areas. For example, determine no-fly zones based on building heights and distributions, and find areas that are not conducive to flight such as strong winds and heavy rains according to meteorological data.

[0055] In the embodiment of the present application, the purposes of airspace use include logistics, sightseeing, emergency rescue, urban development planning, and safety requirements, etc. Different purposes of airspace use have different requirements, and correspondingly, the airspace division results are also different. For example, if the purpose of airspace use is logistics services, then attention should be paid to transportation efficiency and cargo safety; if the purpose of airspace use is for sightseeing, then scenic areas and tourist safety should be considered.

[0056] In step S103, divide the airspace data according to the purpose of airspace use to obtain the airspace division result.

[0057] According to an embodiment of the present application, the airspace division result obtained in step S103 includes a first result set and a second result set. The first result set includes the three-dimensional geometric shapes corresponding to the airspace data, and the second result set includes the relationships between the three-dimensional geometric shapes corresponding to the airspace data.

[0058] In the embodiment of the present application, the airspace division result includes the three-dimensional geometric shapes corresponding to the airspace and the relationships between the three-dimensional geometric shapes included in the airspace division result.

[0059] In a specific embodiment, the first result set includes general 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 connection relationship.

[0060] In some embodiments, the general three-dimensional geometric shape is a solid geometric shape that can be represented by a geometric expression under a specified coordinate system, including, but not limited to, spheres, cylinders, cones, frustums of cones, ellipsoids, and / various polyhedrons.

[0061] Here, it should be noted that the representation methods of general three-dimensional geometric shapes include, but are not limited to, the CSG (Constructive Solid Geometry) method, the SDF (Signed Distance Field) method, the mesh grid (also known as a wireless mesh network) method, the point cloud method, and / or the Bezier surface method, etc., and support multiple formats, for example, including, but not limited to, formats such as mesh or obj.

[0062] For example, under a specified coordinate system, the side and bottom surfaces of a cylinder are defined using the spatial geometric expression shown in formula (2), and the basic geometric expression of the cylinder is obtained using the CSG method.

[0063] (2) Among them, the radius is R, the height is H, and the center of the bottom surface is located at the point (x0, y0, z0).

[0064] In some embodiments, the initial expressions of general three-dimensional geometric shapes are all basic configurations, that is, the size is the standard size, and the origin of itself is (0, 0, 0). As mentioned above, when different identification methods are used for general three-dimensional geometric shapes, the coordinate representations will be different.

[0065] In the embodiments of the present application, the first result set includes the geometric information of at least one three-dimensional geometric shape. Among them, the geometric information includes the spatial position, attitude, scaling degree, and / or airspace attribute value of each three-dimensional geometric shape.

[0066] In a specific embodiment, the initial expression of the geometric information of a general three-dimensional geometric shape is in the basic configuration expression form (type, x, y, z, r, p, y, scale, connect_relationship, property). Among them, type represents the three-dimensional geometric shape, and the attribute value of type is the shape name, corresponding to its standard basic configuration. x, y, and z represent the position of the coordinate origin of the basic configuration; connect_relationship indicates whether this configuration forms a connection relationship with the surrounding configurations.

[0067] For example, the basic configuration includes (x_min, y_min, z_min) within the coordinate point range, and the structural center point of the basic configuration ((x_max - x_min) / 2, (y_max - y_min) / 2, (z_max - z_min) / 2). Among them, x_min, y_min, and z_min are respectively the minimum values of the coordinate positions within the coverage range of the basic configuration, and x_max, y_max, and z_max are respectively the maximum values of the coordinate positions within the coverage range of the basic configuration.

[0068] In some embodiments, (r, p, y) respectively correspond to the roll angle Roll, pitch angle Pitch, and yaw angle Yaw, which are the spatial rotation conditions of this basic configuration; scale represents the scaling degree of this basic configuration. In a specific embodiment, the size of the unit configuration scale can be defined, and any size of this configuration can be represented by the scale parameter; property represents the inherent airspace attribute of this general geometric configuration, including but not limited to: whether flight is prohibited, airspace flight suitability conditions, etc.

[0069] It should be noted here that the airspace division result can include a complete three-dimensional geometric shape or a partial shape of the three-dimensional geometric shape.

[0070] Since the three-dimensional geometric shape can be a typical three-dimensional geometric shape or a combination of these three-dimensional geometric shapes. According to the embodiments of the present application, the second result set includes the relative position relationships between any two three-dimensional geometric shapes in the first result set. The relative position relationships include inclusion relationships, adjacent relationships, and / or connectivity relationships. Among them, the inclusion relationship means that one three-dimensional geometric shape is located within the range of another three-dimensional geometric shape; the adjacent relationship includes that two three-dimensional geometric shapes are adjacent but there is no spatial overlap; the connectivity relationship means that two three-dimensional geometric shapes have partial spatial overlap.

[0071] In a specific embodiment, define the first result set as set M and the second result set as A, then the airspace division result can be expressed as R = {M, A}.

[0072] In some embodiments, the set M is presented in the form of a series of basic configuration instances, and each basic configuration instance contains detailed parameter information. The specific format is {basic configuration instance: (x, y, z, r, p, y, scale, basic configuration, other parameter settings),...}. Among them, (x, y, z) represents the coordinate position of the basic configuration instance in space, determining its specific orientation in the airspace; (r, p, y) represents roll, pitch, and yaw, that is, the spatial rotation of the basic configuration, which is used to accurately describe the attitude of the configuration; scale represents the scaling degree of the basic configuration, and the size of the configuration can be adjusted to meet different requirements. In this embodiment, the basic configuration defines the geometric shape of the configuration, such as typical three-dimensional geometric shapes like spheres and cylinders; other parameter settings cover specific information related to the configuration, for example, internal airspace attributes such as no-fly status and airspace flight suitability conditions.

[0073] For example, assume that the basic configuration instance is represented as (100, 200, 300, 0, 0, 0, 1, cylinder, {"no-fly": false, "suitable flight speed range": "5 - 10m / s"}), which means that the cylinder configuration is located at the coordinates (100, 200, 300), has no rotation, a scaling ratio of 1, is not no-fly, and the suitable flight speed range is 5 - 10m / s.

[0074] In some other embodiments, the set M includes multiple basic configurations, and each configuration instance can be represented as a multi-tuple. The set M is represented as M = {I1, I2,..., I n}, where n is the number of basic configurations included in the set M. For the i-th configuration instance I i , its representation method is as shown in formula (3).

[0075] I i = (x i , y i , z i , r i , p i , y i , scale i , basicshape i , otherParams i ) (3); Among them, x i , y i , z i , represent the coordinate position of the i-th basic configuration in space, and the unit is usually meters; r i , p i , y i, respectively representing the roll, pitch, and yaw of the i-th basic configuration, i.e., the spatial rotation angle of the basic configuration, in radians, scale i , representing the i-th basic configuration type.

[0076] In a specific embodiment, it can be defined as a set of discrete conformances, where the elements are the English names corresponding to the basic configuration types, as shown in formula (4).

[0077] (4); In some embodiments, otherParams i represents other parameter settings, which is a set containing multiple attributes, as shown in formula (5).

[0078] otheParames i = (property i1 , property i2 , property i3 , …, property in ) (5); Among them, property ij represents the j-th attribute, and j can be a positive integer greater than or equal to 1.

[0079] For example, property ij represents whether flight is prohibited, and property ij = {"nofly": true / false}.

[0080] Another example is that property ij represents the flight suitability conditions in the airspace, and property ij = {"suitableSpeedRange": "5-10m / s"}.

[0081] The second result set A is the relationship between the basic configurations included in the airspace division result, and its manifestation form is a scenegraph, that is, a data structure used to organize and represent the objects and their relationships in a scene, and is used to display the overall layout of each basic configuration instance in the airspace. The relationship between the airspace basic configurations details the relative positions, inclusions, adjacencies, connections, etc. between different configurations, helping to understand the spatial connections of each configuration in the airspace. For example, the connection relationship clarifies which configurations are connected to each other.

[0082] In a specific embodiment, the scenegraph (denoted as S) used to represent the set A can be defined as a directed graph structure S = (V, E). Wherein, V is the set of nodes, corresponding to the basic configurations included in the set M, and can be expressed as V = {I1, I2, I3, …, I n}. E is the set of edges, representing the relationships between the basic configurations, E = { (I i , I j , attr ij ) | , i ≠ j}, n is the number of basic configurations, and i is the i-th basic configuration.

[0083] In some embodiments, the relative positional relationship between any two three-dimensional geometric shapes in the first result set is determined by calculating the distance of the coordinate positions between any two three-dimensional geometric shapes.

[0084] Assume that the coordinates of the basic configurations I i , I j are (x i , y i , z i ), (x j , y j , z j ), respectively. The distance between I i , I j can be calculated according to formula (6).

[0085] (6); When d is less than the preset distance threshold, it is considered that the basic configurations I i , I j are relatively close in space.

[0086] In some embodiments, if I i , I j are in an inclusion relationship. For example, if all points in I i are inside I j , then attr ij = "contains"; conversely, if I j is inside I i , then attr ij = "containedBy".

[0087] In other embodiments, if I i , I j are in an adjacent relationship, that is, I i and I j have a common boundary in space and do not contain each other, then attr ij = "adjacent".

[0088] In some other embodiments, if there is a path between I i and I j such that the aircraft can fly unobstructed from the area where I i is located to the area where I j is located, then attr ij = "connected"; otherwise, attr ij = "notConnected".

[0089] According to Figure 1 the illustrated embodiment, by dividing the airspace into a set of general three-dimensional geometric shapes and giving the positional relationships between the general three-dimensional geometric shapes, a standard for airspace division is proposed, thereby improving the interoperability of airspace management, simplifying airspace management and planning work, and improving airspace division efficiency.

[0090] Figure 2 shows a schematic diagram of a method for dividing airspace data according to the purpose of airspace use according to an exemplary embodiment of the present application, such as Figure 2 the method steps S201 and S203 shown.

[0091] In step S201, according to the purpose of airspace use, at least one three-dimensional geometric shape is selected from a preset general airspace structure.

[0092] In a specific embodiment, a suitable configuration is selected from the general three-dimensional geometric shapes of the airspace according to the purpose of airspace use and the characteristics of airspace data.

[0093] For example, for logistics transportation, a cuboid configuration may be selected to ensure the stability of the flight route.

[0094] For another example, for temporary activities, a flexible polygon configuration can be selected.

[0095] In step S203, the relationships between the at least one selected three-dimensional geometric shape are determined according to the airspace data represented by the four-dimensional digital base.

[0096] According to an embodiment of the present application, according to the selected three-dimensional geometric shape, in combination with the four-dimensional digital base, the position, size, height, and direction of the airspace are determined. While avoiding setting low-altitude flight areas in densely populated areas, the intervals and connectivity between different three-dimensional geometric shapes are comprehensively considered to ensure safe and smooth flight.

[0097] After step S203, Figure 2The method shown also includes evaluating the airspace division result and adjusting the airspace division result according to the evaluation result. By evaluating the rationality of the airspace division result, it is checked whether the airspace division result complies with regulations and design preferences. And it is adjusted and optimized according to the evaluation result to increase the spacing of flight conflict areas and optimize the airspace structure of busy areas.

[0098] Figure 3 Fig. shows a schematic diagram of another method for dividing airspace data according to the purpose of airspace use according to an exemplary embodiment of the present application, as Figure 3 the method steps S301 and S303 shown.

[0099] In step S301, the division conditions of the airspace are determined.

[0100] According to an embodiment of the present application, the division conditions include the purpose of airspace use (or the target of airspace use), and also include the airspace division range and / or the airspace attribute value.

[0101] In a specific embodiment, the geographical range to be divided for airspace can be represented in various forms, including but not limited to being represented by multiple longitude and latitude coordinate points, being represented by an AOI (Area of Interest, called the area of interest) (for example, dividing the airspace for a certain administrative region), being represented by a polygon in a GIS (Geographic Information System, called the geographic information system), etc.

[0102] In some embodiments, according to the geographical information corresponding to the given range, the geographical range to be divided for airspace is represented by using a four-dimensional digital base.

[0103] According to an embodiment of the present application, the purpose of airspace use includes feasibility, for example, requiring no collisions in the airspace and compliance with legal regulations.

[0104] According to other embodiments, the purpose of airspace use includes flight type requirements, for example, speed limit, climb angle, turn angle, positioning accuracy, flight control accuracy, acceleration range, impact energy on the ground, and weight indication.

[0105] According to other embodiments, the purpose of airspace use includes multiple optimization indicators, for example, the higher the score / index, the better, such as the more aircraft that can be in the air at the same time, the higher the coverage rate of the starting point - ending point that can be supported, the shorter the flight distance that can be supported, the shorter the flight time, movement in the direction of gravity, the lowest acceleration speed, the farther away from residents, the less noise, etc.

[0106] According to other embodiments, it is also necessary to quantitatively evaluate the optimization indicators corresponding to the purpose of airspace use.

[0107] In some embodiments, the quantitative evaluation includes a feasibility quantitative evaluation and a preference quantitative evaluation. Among them, the feasibility quantitative evaluation includes a collision-free evaluation, a compliance evaluation, and / or a type requirement evaluation; the preference quantitative evaluation includes an efficiency evaluation, a social factor evaluation, and / or a comprehensive preference evaluation.

[0108] In some embodiments, the efficiency evaluation includes the number of empty aircraft at the same time, origin-destination coverage, flight distance and time evaluation, movement and acceleration evaluation in the direction of gravity; the social factor evaluation includes the distance from residents evaluation, noise evaluation.

[0109] For example, when conducting a collision-free evaluation, within the divided airspace, according to the number of aircraft, the number of possible collisions per unit time is statistically calculated by calculating the potential collision risk index. Suppose that within a time period T, it is predicted that there are n potential collisions, and the potential collision risk index = T / n. The lower the potential collision risk index, the higher the collision-free feasibility. In some embodiments, for complex areas, the accuracy of collision risk calculation can be improved by determining whether the aircraft trajectories intersect.

[0110] For another example, when conducting a compliance evaluation, a compliance score is constructed. According to airspace rules (such as no-fly zone regulations, high-rise stratification standards), corresponding deduction weights are set for each violation. Suppose the deductions corresponding to various violations are d1,..., dm respectively, then the compliance score = sum(d1,..., dm) / W, where W is the upper limit of the sum of deductions for all violations, and sum is the summation function. The closer the compliance score is to 1, the better the compliance.

[0111] For another example, when conducting a type requirement evaluation, the compliance rates are calculated respectively for type requirements such as speed limits and climb angles. Taking the speed limit as an example, the proportion of the time when the aircraft speed is within the specified range in the total flight time is statistically calculated within a period of time. The comprehensive average value of the calculated compliance rates of various types is calculated. The higher the calculated value, the higher the feasibility of meeting the type requirements.

[0112] For another example, when counting the number of aircraft in the air at the same time, the maximum number of aircraft in the statistical airspace that are in flight at the same time is calculated within a period of time. The larger the value, the higher the space utilization rate of the airspace.

[0113] For another example, when calculating the origin-destination coverage, the proportion of origin-destination pairs that can be flight-connected through the divided airspace is calculated in the given set of origins and destinations. Suppose there are a total of N origin-destination pairs, and among them, n pairs can be flight-connected, then the origin-destination coverage = n / N. The closer the origin-destination coverage is to 1, the higher the origin-destination coverage that can be supported and the better the efficiency.

[0114] For another example, when evaluating the flight distance and time, the average flight distance AD and the average flight time AT of the aircraft completing the mission within the divided airspace are statistically analyzed. The average flight distance AD and the average flight time AT can be obtained through the statistical analysis of the flight data of multiple aircraft. Define the flight distance and time evaluation = 1 / (AD + k1*AT), where k1 is a weight coefficient that can be adjusted according to requirements and is used to balance the importance of flight time and flight distance. The larger the calculated flight distance and time evaluation value, the higher the efficiency.

[0115] For another example, when evaluating the movement in the gravity direction and acceleration, the average acceleration AG and the average movement distance DG of the aircraft in the gravity direction are calculated. Calculate the evaluation value of the movement in the gravity direction and acceleration = 1 / (AG + k2*DG), where k2 is a weight coefficient that can be adjusted according to requirements and is used to balance the importance of the movement in the gravity direction and acceleration. The larger the evaluation value of the movement in the gravity direction and acceleration, the lower the energy efficiency in the gravity direction and the higher the efficiency.

[0116] For another example, the evaluation of the distance from residents is calculated by calculating the average distance between the airspace and the residential area. Define the evaluation value of the distance from residents = the evaluation of the distance from residents / Dmax, where Dmax is the set maximum reference distance. The larger the evaluation value of the distance from residents, the farther away from the residents and the smaller the impact on the residents.

[0117] For another example, according to information such as the type, flight altitude, and speed of the aircraft, combined with the noise propagation model, the noise intensity NI at the location of the residential area is calculated. Define the noise evaluation value = 1 - NI / NI standard, where NI standard is the noise intensity standard acceptable to residents. The closer the noise evaluation value is to 1, the smaller the noise impact.

[0118] In some embodiments, the comprehensive score of social factors is obtained by comprehensively averaging the evaluation value of the distance from residents and the noise evaluation value. The higher the comprehensive score of social factors, the better the priority of the division scheme in terms of social factors.

[0119] In some embodiments, the efficiency evaluation and the social factor evaluation are weighted and averaged according to a preset weight to perform a comprehensive optimization evaluation. The higher the comprehensive optimization evaluation value, the better the optimization of the division scheme. In specific embodiments, the weights corresponding to the efficiency evaluation and the social factor evaluation can be adjusted according to needs to highlight the importance of different optimization objectives.

[0120] In some embodiments, the airspace attribute value includes airspace usage rules and / or airspace usage preferences. Among them, the airspace design preference refers to the main uses and priorities of the airspace in the corresponding area. For example, the priority consideration for the airspace is the transportation efficiency of unmanned aerial vehicle logistics while minimizing the impact on residents' lives.

[0121] In a specific embodiment, the airspace usage rule library is a systematic knowledge base that integrates rules, regulations, standards, and best practices for guiding airspace design, providing a set of standardized and queryable airspace usage rules to support the effective management and planning of airspace, ensuring the safety and efficiency of aviation activities.

[0122] In some embodiments, the airspace usage rules include, but are not limited to: the conditions for dividing controlled airspace and no-fly zones based on ground zoning information. For example, no-fly zones must be divided over hospitals, schools, nuclear power plants, high-speed railway stations, etc.; controlled airspace is divided over highways, specific parks, etc.; the standard rules for dividing airspace height layers according to relevant national airspace regulations. For example, the airspace below 120 meters of true altitude above ground is Class G airspace, and the airspace below 300 meters is Class W airspace, etc.; for the takeoff and landing fields and the ground areas that may be planned as takeoff and landing fields, the corresponding low-altitude airspace configuration should meet the requirements of the takeoff and landing airspace; specific requirements for flight altitude, speed, route, no-fly zone, conditional flight area, etc., as well as specific regulations for different types of aircraft (such as drones, commercial flights, etc.).

[0123] In step S303, according to the division conditions, the airspace data is divided through a preset evaluation function to obtain an airspace division result.

[0124] According to the embodiments of the present application, in step S303, first, the airspace data is divided according to the division conditions to obtain at least one airspace division result; then, the evaluation value corresponding to each airspace division result is calculated through a preset evaluation function; finally, the optimal airspace division result is determined according to the evaluation value.

[0125] In a specific embodiment, through a search algorithm or a deep learning model Transformer algorithm based on the self-attention mechanism, according to the division conditions, the airspace data is divided through a preset evaluation function to obtain an airspace division result.

[0126] For example, first, the single-generation process is looped until the first result set of airspace division obtained meets the airspace usage purpose; then, the second result set is obtained based on the first result set; finally, the airspace division result is evaluated and optimized and adjusted. Among them, the single-generation process includes roughly generating multiple three-dimensional geometric shapes, and then, adjusting the generated multiple three-dimensional geometric shapes. For example, adjusting the parameters of the multiple three-dimensional geometric shapes (such as the spatial rotation of the basic configuration corresponding to each three-dimensional geometric shape), the airspace rules corresponding to the three-dimensional geometric shapes (including body parameters such as allowable flight speed, type / rotor, fixed wing, flight control accuracy, positioning accuracy, etc.), and the spatial range limit occupied by the geometric body (for example, within the specified flight radius).

[0127] In the embodiments of the present application, the airspace data is partitioned by a preset evaluation function.

[0128] In a specific embodiment, the evaluation function comprehensively considers the flyability measure, the requirements of the rule base, and the design preferences, and evaluates and scores different airspace configuration combinations. During the search process, a better solution is selected from a plurality of airspace partitioning results, and these solutions initially meet the basic requirements of airspace partitioning.

[0129] The evaluation function has multiple different designs according to different input situations. For example, assume that FM represents the evaluation function; F fly (x, y, z, t) represents the flyability measure function; R rule represents the rule base constraint function, which is used to measure the degree of compliance of the partitioning scheme with the rule base. A positive score is given for compliance with the rule, and a negative score is given for non-compliance; P pref represents the design preference function, which is used to reflect the influence of design preferences. For example, if the preference is to improve airspace utilization efficiency, a higher score can be given to a scheme with a large airspace capacity. Another example is that if the preference is flight smoothness, a higher score can be given to a scheme that reduces conflicts; a, b, and c are weight coefficients, and a + b + c = 1. The evaluation function is shown in formula (7).

[0130] FM = aF fly (x, y, z, t) + bR rule + cP pref (7); Among them, the larger the value of FM, the higher the flight suitability.

[0131] In the embodiments of the present application, the search algorithms include the A* algorithm, the genetic algorithm, the simulated annealing algorithm, and / or the ant colony algorithm. In this embodiment, taking the ant colony algorithm as an example, how to obtain an airspace partitioning result that meets the design requirements is described in detail. Based on the same implementation process, those skilled in the art can easily implement obtaining an airspace partitioning result that meets the design requirements using other search algorithms, and will not be exemplified and elaborated one by one here.

[0132] The ant colony algorithm gradually constructs and optimizes the partitioning scheme in the automated design of the airspace structure by simulating the foraging behavior of ants. The search steps using the ant colony algorithm include problem modeling, parameter initialization, ant search, pheromone update, and termination condition judgment, and finally an airspace partitioning result that meets the design requirements is obtained.

[0133] In the problem modeling stage, the airspace structure partitioning problem is transformed into a graph structure. The key positions in the airspace (such as takeoff and landing points, no-fly zone boundary points, centers of different functional areas, etc.) are set as nodes of the graph, the connections between the nodes are used as edges, and the weights of the edges can be determined according to factors such as the distance between the nodes and the flyability measure. For example, the weight of the edge between two nodes with a relatively short distance and a high flyability measure can be set to be larger, and vice versa.

[0134] In the initialization parameter stage, parameters such as the number of ants, the initial pheromone concentration, the pheromone evaporation coefficient, and the heuristic factor are set. The initial pheromone concentration can be set to the same value, such as 0.1; the pheromone evaporation coefficient is generally between 0 and 1, such as set to 0.5, which is used to control the decay of pheromone over time; the heuristic factor is set according to the characteristics of the problem, which is used to measure the degree of importance of the heuristic information (such as distance, flyability measure, etc.) when ants select paths.

[0135] In the ant search stage, each ant starts from a certain starting node and selects the next node according to certain rules. Ants calculate the selection probability based on the pheromone concentration and heuristic information of the edges between nodes. The higher the pheromone concentration and the better the heuristic information (such as closer to the target node, higher flyability measure), the greater the probability of being selected. Ants construct their own paths during the movement, forming a local scheme for airspace division. For example, when an ant selects to pass through a certain area, it will comprehensively consider the flyability measure of the area and the existing pheromone concentration. When all ants have completed a search, a set of candidate schemes for airspace division is obtained.

[0136] In the pheromone update stage, the pheromone is updated according to the path quality constructed by the ants (determined by the evaluation function, and the evaluation function comprehensively considers factors such as flyability measure, whether it conforms to the airspace design rules, and whether it meets the airspace design preferences). For paths with high quality, the pheromone on the path increases; for paths with low quality, the pheromone decreases.

[0137] For example, for paths that meet all the rules, have a high flyability measure, and meet the design preferences, the pheromone concentration is significantly increased; for paths with violations or low flyability measure, the pheromone concentration is decreased. The pheromone update formula is shown in formula (8).

[0138] (8); Among them, is the pheromone concentration on the edge (i, j) at time t, is the pheromone evaporation coefficient, is the pheromone increment on the edge (i, j) in this iteration.

[0139] In the judgment of termination conditions stage, it is checked whether the termination conditions are met, such as reaching the maximum number of iterations (such as set to 500 times), or the optimal solution has not been significantly improved after several consecutive iterations. If the termination conditions are met, the current optimal airspace division scheme is output; otherwise, return to step 3 to continue the next round of ant search and pheromone update until a satisfactory scheme is found.

[0140] According to the embodiments of the present application, the airspace division result can also be generated based on the Transformer. The steps of generating the airspace division result based on the Transformer include data preparation, Transformer model construction and training, generating the airspace division sequence, and result optimization.

[0141] In the data preparation stage, various types of data for generating the airspace division sequence are collected and sorted out.

[0142] For example, obtain the flyability measurement results from the low-altitude four-dimensional digital base. These results reflect the flight suitability of different airspace positions and are important bases for determining the airspace division plan. Sort out the general airspace structure representation content, including the characteristics (such as the shape characteristics of geometric configurations like spherical, cylindrical, etc.) and attributes (such as no-fly, flight suitability conditions, etc.) of various geometric configurations. Encode the better solutions obtained by the search algorithm and convert them into an input format that the Transformer can understand. For example, digitize and encode parameters such as the position, rotation, and scaling of configuration instances.

[0143] In the Transformer model construction and training stage, a Transformer model suitable for the airspace division task is constructed.

[0144] For example, determine hyperparameters such as the number of layers, number of heads, and hidden layer dimension of the model to balance the computational complexity and performance of the model. Use the prepared data to train the model. During the training process, the model learns the relationship between the flyability measurement, general structure, and better solutions, and continuously adjusts the model parameters so that the model can accurately generate a reasonable airspace division sequence according to the input data. During training, use the airspace division plan as a label to let the model learn how to map from the input data to the correct division plan.

[0145] In the stage of generating the airspace division sequence, input the encoded flyability measurement results, general structure representation content, and better solution data into the trained Transformer model. The model uses the self-attention mechanism to perform parallel processing and feature extraction on the input data, and capture the correlation information between different data.

[0146] For example, the model will simultaneously focus on the flyability measurement of a certain area and the geometric configuration attributes applicable to that area. According to the extracted features, the Transformer model generates a series of permutations and combinations of airspace division configuration instances according to its internal architecture and the patterns learned during training. These permutations and combinations form a preliminary framework of the division plan, determining the approximate distribution and combination method of configuration instances in the airspace.

[0147] In the result optimization stage, the airspace division sequence generated by the Transformer is evaluated. According to the airspace design rule library, it is checked whether the regulations such as no-fly zones and airspace stratification are met, and design preferences are also considered. For the problems found in the evaluation, a search algorithm or manual intervention is used to correct the airspace division sequence. The search algorithm can adjust the parameters of the configuration instance within a certain range to find a better solution; manual intervention optimizes the airspace division sequence specifically according to practical experience and special requirements to ensure that the final division plan complies with the rules and meets the actual application requirements.

[0148] According to an embodiment of the present application, after obtaining the airspace division result, it is also necessary to comprehensively consider factors such as flyable measure, rule compliance, and design preference to evaluate the airspace division result. By constructing a mathematical model, each factor is quantified and weighted, and the evaluation function value is calculated to judge the quality of the division plan, providing a basis for optimization and decision-making.

[0149] The above mainly introduced the embodiments of the present application from the perspective of methods. Those skilled in the art should easily realize that in combination 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 ways 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.

[0150] The device embodiments of the present application are described below. For the details not described in the device embodiments of the present application, reference can be made to the method embodiments of the present application.

[0151] Figure 4 A block diagram of a device for dividing airspace according to an exemplary embodiment of the present application is shown, as Figure 4 The shown device includes an airspace data determination unit 401 and an airspace division unit 403. Among them, the airspace data determination unit 401 is used to determine the airspace data corresponding to the airspace division in response to an airspace division instruction, and the airspace division instruction includes the purpose of airspace use; the airspace division unit 403 is used to divide the airspace data according to the purpose of airspace use to obtain an airspace division result.

[0152] According to an embodiment of the present application, the airspace division result includes a first result set and a second result set. The first result set includes the three-dimensional geometric shapes corresponding to the airspace data, and the second result set includes the relationships between the three-dimensional geometric shapes corresponding to the airspace data.

[0153] Figure 5 An electronic device according to an exemplary embodiment of the present application is shown. The following refers to Figure 5 to describe the electronic device 200 according to this embodiment of the present application. Figure 5The illustrated electronic device 200 is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0154] As Figure 5 shown, the electronic device 200 is presented in the form of a general-purpose 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.

[0155] Among them, the storage unit stores program codes, and the program codes 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 methods described above.

[0156] 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 storage unit 2202, and may further include a read-only storage unit (ROM) 2203.

[0157] The storage unit 220 may also 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. The implementation of a network environment may be included in each or some combination of these examples.

[0158] 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 bus structure in a variety of bus structures.

[0159] 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 the input / output (I / O) interface 250. Moreover, 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 the 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.

[0160] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by the way of software in combination with necessary hardware. The technical solutions according to the embodiments of the present application can be embodied in the form of a software product, and the software product 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.

[0161] The software product can adopt any combination of one or more readable media. The readable media 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 with 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.

[0162] A 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. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The readable storage medium may 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 may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0163] The program code for performing the operations of the present application may be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user 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 may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0164] The above computer-readable storage medium bears one or more programs (including computer-readable instructions stored thereon), and when the above one or more programs are executed by a device, the computer-readable storage medium realizes the foregoing functions.

[0165] Those skilled in the art can understand that the above-mentioned modules can be distributed in the device according to the description of the embodiments, or can be correspondingly changed and distributed in one or more devices that are uniquely different from the present embodiment. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0166] 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, the method described above can be executed.

[0167] The above has introduced the embodiments of the present application in detail. Specific examples are used in this article to elaborate on the principles and implementation manners 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, those skilled in the art, based on the idea of the present application, the changes or deformations made in the specific implementation manners 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 to the present application.

[0168] Those skilled in the art can understand that the above-mentioned various modules can be distributed in the device according to the description of the embodiments, or can be correspondingly changed and distributed in one or more devices that are different from this embodiment. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0169] Traditional airspace division methods lack a systematic evaluation mechanism and it is difficult to ensure the rationality of the division plan. The present application proposes a complete method for evaluating the rationality of airspace division and allocation. By comprehensively considering factors such as flyability measure, compliance with rules, and design preferences, and using mathematical models and various evaluation means, a comprehensive and objective evaluation of the airspace division results is carried out. This enables the division plan to be continuously optimized and improved during the formulation process, improves the scientificity and accuracy of airspace division, and reduces the flight safety risk.

[0170] The above has introduced the embodiments of the present application in detail. Specific examples are used in this article to elaborate on the principles and implementation manners 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, those skilled in the art, based on the idea of the present application, the changes or deformations made in the specific implementation manners 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 to the present application.

Claims

1. A method for dividing airspace, characterized in that, Including: In response to an airspace division instruction, determining airspace data corresponding to the airspace division, where the airspace division instruction includes the purpose of airspace use; Dividing the airspace data according to the purpose of airspace use to obtain an airspace division result; Among them, the airspace division result includes a first result set and a second result set. The first result set includes the three-dimensional geometric shapes corresponding to the airspace data, and the second result set includes the relationships between the three-dimensional geometric shapes corresponding to the airspace data.

2. The method according to claim 1, wherein The three-dimensional geometric shapes include polyhedrons, spheres, cylinders, frustums of cones, and / or ellipsoids.

3. The method according to claim 2, characterized in that, The first result set includes the geometric information of at least one three-dimensional geometric shape, and the geometric information includes: The spatial position, attitude, scaling degree, and / or airspace attribute value of each three-dimensional geometric shape.

4. The method according to claim 3, wherein The second result set includes the relative position relationships between any two three-dimensional geometric shapes in the first result set, and the relative position relationships include inclusion relationships, adjacent relationships, and / or connection relationships.

5. The method according to claim 4, wherein The airspace utilization is represented by a four-dimensional digital base.

6. The method according to claim 5, wherein Dividing the airspace data according to the purpose of airspace use to obtain an airspace division result includes: Selecting at least one three-dimensional geometric shape from a preset general airspace structure according to the purpose of airspace use; Determining the relationships between at least two selected three-dimensional geometric shapes according to the airspace data represented by the four-dimensional digital base.

7. The method according to claim 5, characterized in that Dividing the airspace data according to the purpose of airspace use to obtain an airspace division result includes: Determining the division conditions of the airspace; Dividing the airspace data according to the division conditions through a preset evaluation function to obtain the airspace division result; Among them, the division conditions include the purpose of airspace use, and also include the airspace division range and / or the airspace attribute value.

8. The method according to claim 7, wherein Dividing the airspace data according to the division conditions through a preset evaluation function to obtain the airspace division result includes: Through a search algorithm or a Transformer algorithm, dividing the airspace data according to the division conditions through a preset evaluation function to obtain the airspace division result.

9. The method according to claim 8, characterized in that, The search algorithm includes the A* algorithm, genetic algorithm, simulated annealing algorithm, and / or ant colony algorithm.

10. The method according to claim 7, characterized in that, Dividing the airspace data according to the division conditions through a preset evaluation function to obtain the airspace division result includes: Dividing the airspace data according to the division conditions to obtain at least one of the airspace division results; Calculating the evaluation value corresponding to each airspace division result through a preset evaluation function; Determining the optimal airspace division result according to the evaluation value.

11. The method according to claim 7, wherein The airspace attribute value includes airspace use rules and / or airspace use preferences.

12. The method according to claim 4, wherein The relative position relationship between any two three-dimensional geometric shapes in the first result set is determined by calculating the distance of the coordinate positions between any two three-dimensional geometric shapes.

13. An apparatus for dividing airspace, characterized in that Including: An airspace data determination unit, configured to determine airspace data corresponding to an airspace division in response to an airspace division instruction, where the airspace division instruction includes the purpose of airspace use; An airspace division unit for dividing the airspace data according to the purpose of using the airspace to obtain an airspace division result; Wherein, the airspace division result includes a first result set and a second result set, the first result set includes the three-dimensional geometric shape corresponding to the airspace data, and the second result set includes the relationship between the three-dimensional geometric shapes corresponding to the airspace data.

14. An electronic device, characterized in that, Comprising: 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 according to any one of claims 1 to 12.

15. A computer-readable storage medium having computer-readable instructions stored thereon, which when executed by a processor cause the processor to execute the method according to any one of claims 1 to 12.

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