Low-altitude airspace approval automatic distribution system and method based on spatial topological relation and workflow

Abstract

The application discloses a kind of low airspace approval automatic distribution system and method based on spatial topological relation and workflow, comprising: receiving the airspace application information submitted by operator;Build approval relationship model to generate the topological relation network between each level of approval node and each level of approval node;The jurisdiction range of different jurisdictions involved in the applied airspace is calculated, and the approval relationship is judged;The approval relationship of each approval node in the approval level is calculated, and the approval information is circulated according to the approval level and distributed to the corresponding approval node in the approval level for approval;Complete all the approval of all the approval nodes in the current approval level, calculate the approval relationship of the next approval level and the approval node, and distribute the approval process. The method of the present application is based on the spatial geographic information of the applied airspace, and the approval relationship is calculated by using spatial topological relation calculation;Design the automatic circulation structure of process, realize the automatic distribution circulation of approval process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of low-altitude airspace approval, and particularly relates to a low-altitude airspace approval automatic distribution system and method based on spatial topological relations and a work flow. BACKGROUND

[0002] With the advancement of China's economy and low-altitude airspace reform, the low-altitude industry is developing rapidly, and the low-altitude application scenarios and low-altitude airspace demand are increasing day by day, which puts forward higher requirements for the management and activity supervision of low-altitude airspace. Low-altitude airspace operation includes manned aircraft and unmanned aircraft flight, and the existing operation mode is that each low-altitude user submits an application for airspace use, and the relevant responsible units approve and reply the application information, such as each flying clothes station, UOM system, etc.

[0003] The existing research and technology are mainly for the direction of airspace application submission and automatic airspace approval, according to the relevant regulations of low-altitude operation, the related information and submission materials of airspace application are sorted out; the business process of application approval is sorted out, the related requirements and responsibility relationship of confirmation, approval, report, etc. are confirmed; the approval items of application information are clarified, and the business needs of automatic airspace approval are researched.

[0004] Under the existing operation mode, the low-altitude airspace application approval process needs the communication and docking of information by each responsible unit, which is inefficient through telephone, fax and other means, and the human error is also high; and for complex situations such as cross-city and cross-province, there is a problem that the operating unit is not clear about which department should submit the application; the existing process and mode are difficult to meet the growing demand for low-altitude, resulting in long approval period, and problems such as inability to timely and effectively approve. The existing research and technology are only for application and automatic approval, without considering the approval process and complex operation conditions such as cross-city and cross-province, and the problems of complex airspace application approval process and long approval period have not been completely solved. SUMMARY

[0005] In view of the deficiencies of the above existing technology, the purpose of the present application is to provide a low-altitude airspace approval automatic distribution system and method based on spatial topological relations and a work flow, to solve the problems of complex airspace application approval process and long approval period. The method is based on the spatial geographic information of the applied airspace, and uses spatial topological relation calculation to calculate the approval relationship; the automatic flow transfer structure is designed to realize the automatic distribution and flow transfer of the approval process.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] The low-altitude airspace approval automatic distribution system based on spatial topological relations and a work flow of the present application comprises:

[0008] An airspace application module is configured to receive and store airspace application information submitted by an operator;

[0009] An approval process module is configured to build an approval relationship model to generate approval nodes at different levels and a topological relationship network between the approval nodes at different levels;

[0010] An approval relationship calculation module is configured to perform spatial calculation based on airspace geographic spatial information in the airspace application information to calculate jurisdictional ranges of different jurisdictions involved in the applied airspace and determine approval relationships;

[0011] An automatic distribution and circulation module is configured to calculate approval relationships of the approval nodes at different levels in the approval hierarchy based on the airspace application information submitted by the operator and the approval relationship model built in step 2 and the approval relationships determined in step 3, circulate the approval information according to the approval hierarchy, and distribute the approval information to the corresponding approval nodes in the approval hierarchy for approval;

[0012] An approval module is configured to complete all approvals of all the approval nodes at the current approval level, perform approval relationship calculation on the next approval level and the approval nodes, and distribute the approval process until all the approval levels complete the approval.

[0013] The low-altitude airspace approval automatic distribution method based on spatial topological relationships and workflows according to the application comprises the following steps:

[0014] 1) receiving and storing airspace application information submitted by an operator;

[0015] 2) building an approval relationship model to generate approval nodes at different levels and a topological relationship network between the approval nodes at different levels;

[0016] 3) performing spatial calculation based on airspace geographic spatial information in the airspace application information to calculate jurisdictional ranges of different jurisdictions involved in the applied airspace and determine approval relationships;

[0017] 4) calculating approval relationships of the approval nodes at different levels in the approval hierarchy based on the airspace application information submitted by the operator and the approval relationship model built in step 2 and the approval relationships determined in step 3, circulating the approval information according to the approval hierarchy, and distributing the approval information to the corresponding approval nodes in the approval hierarchy for approval;

[0018] 5) completing all approvals of all the approval nodes at the current approval level, performing approval relationship calculation on the next approval level and the approval nodes, and distributing the approval process until all the approval levels complete the approval.

[0019] Further, the step 1 specifically comprises:

[0020] 11) Establish an airspace application information table AIRSPACE, which specifically includes: airspace name, airspace type, use time, applicant information, contact person, contact number, approval status and approval opinion; the airspace application information table AIRSPACE stores the airspace application information submitted by the operator;

[0021] 12) Establish an airspace geographic information structure table AIRSPACE_STRUCT, which specifically includes: airspace name, airspace shape, airspace longitude set, airspace latitude set and airspace height range; the airspace geographic information structure table AIRSPACE_STRUCT stores the airspace geographic spatial information of the airspace applied by the operator.

[0022] Further, the step 2) specifically includes:

[0023] 21) Establish an authority information table AUTHORITY_INFO, which specifically includes: authority name, authority type, authority geographic spatial information and authority information update time; the authority information table AUTHORITY_INFO stores the basic information and geographic spatial information of the authority, and the basic information includes: authority name and authority type;

[0024] 22) Establish a multi-level relationship table MULTILEVEL_RELATION, which specifically includes: authority name, belonging level, parent level and update time; the multi-level relationship table MULTILEVEL_RELATION stores the level to which each authority unit currently belongs and the level relationship information of the previous level;

[0025] 23) Based on the Flowable workflow engine, in combination with the authority type in the authority information table AUTHORITY_INFO established in step 21), configure the approval relationship model ; For different authority types set in the authority information table AUTHORITY_INFO as approval levels, establish a network of each level of approval; the authorities of the same authority type are nodes of the same level, which are placed in different nodes of the workflow through Flowable, to generate approval nodes of each level; according to the actual approval process and requirements, determine the transfer order and transfer relationship between the approval nodes, link the approval nodes of each level, configure the order of each approval level and approval node, and build the approval node topology relationship network to complete the construction of the approval process; for the case involving multiple authorities, the approval relationship model can dynamically adjust the approval path, and the approval relationship model expression is as follows:

[0026] (1)

[0027] (2)

[0028] Among them, the first approval level, the number of levels of the constructed approval relationship model; the first approval node in the approval level, the first approval node in the approval level, the number of approval nodes in the approval level.

[0029] Further, the step 3) specifically comprises:

[0030] 31) using a spatial relationship calculation method based on the DE-9IM spatial relationship model to calculate the airspace information space of the application; based on the DE-9IM spatial relationship model to describe the characteristics of the spatial relationship between two objects, compare the airspace space range with the jurisdiction, calculate the relative relationship between the interior, exterior and boundary of the jurisdiction range of the airspace space range, thereby constructing the spatial topological relationship intersection matrix, obtaining the relative relationship between the application airspace and each jurisdiction range, obtaining the approval relationship matrix, and determining the jurisdiction information involved in the application airspace;

[0031] 32) according to the approval relationship matrix calculated in step 21), screening out the jurisdiction with spatial overlap with the geographic spatial information of the application airspace, querying the corresponding jurisdiction multi-level relationship from the multi-level relationship table MULTILEVEL_RELATION established in step 22), establishing a multi-level relationship matrix Re, and the expression is as follows:

[0032] (3)

[0033] (4)

[0034] (5)

[0035] wherein, represents the first belonging level of different jurisdictions involved in the application airspace, represents the number of different belonging levels, =1, the application airspace only involves one belonging level; represents the first parent level of different jurisdictions involved in the application airspace, represents the number of different parent levels, =1, the application airspace only involves one parent level.

[0036] Further, the step 31) specifically comprises:

[0037] 311) based on the airspace geographic spatial information of the application to obtain the spatial matrix of the application airspace integer of the median of longitude For the strip value, the spatial matrix is converted into a spatial matrix in the Gauss coordinate system by Gauss projection , and the expression is as follows:

[0038] (6)

[0039] (7)

[0040] (8)

[0041] (9)

[0042] (10)

[0043] wherein, is the i th point of the spatial geographic information of the application; and are the longitude and latitude of the i th point, respectively; is the i th point of the spatial geographic information of the application in the Gauss coordinate system after conversion; and are the longitude and latitude of the i th point in the Gauss coordinate system, respectively; is the number of coordinate points in the spatial geographic information of the application; represents the median of the spatial matrix ; is a rounding up function; is a Gauss projection conversion function, and the input is a strip value and a spatial matrix; 312) Based on the jurisdictional range geographic information data in the jurisdiction information table AUTHORITY_INFO, a jurisdictional spatial matrix set is generated , and based on , the is converted into a jurisdictional range spatial matrix set in the Gauss coordinate system

[0044] , and the expression is as follows: (11)

[0045] (12)

[0046] (13)

[0047] (14)

[0048] (15) ​​​

[0049] (15)

[0050] (16)

[0051] wherein, represents the geospatial information of the jurisdictional range of the th jurisdiction in the AUTHORITY_INFO table; represents the th coordinate point of the geospatial information of the jurisdictional range of the th jurisdiction; and respectively represent the longitude and latitude of the th point of the th jurisdiction; represents the th jurisdiction in the converted Gauss coordinate system; represents the th coordinate point of the geospatial information of the jurisdictional range of the th jurisdiction in the converted Gauss coordinate system; and respectively represent the longitude and latitude of the th point of the th jurisdiction in the converted Gauss coordinate system; represents the number of jurisdictions in the AUTHORITY_INFO table, represents the number of coordinate points in the geospatial information of the jurisdictional range of each jurisdiction;

[0052] 313) Grid processing: grid the point, line, and surface with the point as the basic unit, the point as a single grid, the line as a series of continuous point grids, and the surface as a closed interval grid formed by the connected lines, each grid being represented by quantized horizontal and vertical coordinates; grid the spatial matrix of the application airspace to obtain the internal component , the boundary component , and the external component of the application airspace; grid the spatial matrix set of the jurisdiction to obtain the internal component set , the boundary component , and the external component of the jurisdiction, the expressions being as follows:

[0053] (17)

[0054] (18)

[0055] wherein, , and​ the first inner component, the first edge component and the first outer component of the airspace matrix of the application, the number of inner components, the number of edge components, the number of outer components; , and the first inner component, the first edge component and the first outer component of the airspace matrix set of the jurisdiction, the number of inner components, the number of edge components, the number of outer components;

[0056] 314) Dimension calculation: dimensionally calculate each component of the application airspace and each component of the jurisdiction set to obtain the spatial relationship intersection matrix of the application airspace and each jurisdiction, expressed as follows:

[0057] (19)

[0058] wherein, the dimension of the intersection of two components, taking values of 0, 1, 2 and null;

[0059] 315) Compare the spatial relationship intersection matrix of the application airspace and each jurisdiction with the spatial topological relationship intersection matrix table to obtain the spatial relationship matrix of the application airspace and each jurisdiction, as follows:

[0060] (20)

[0061] (21)

[0062] wherein, the spatial relationship of the application airspace and the first ​A, B, C, D, E, F in the spatial topological relationship intersection matrix table, wherein, A represents intersection relationship, when the internal part of the application airspace and the internal part of the jurisdiction unit exist intersection, or the internal part of the application airspace and the boundary part of the jurisdiction unit exist intersection, or the boundary part of the application airspace and the internal part of the jurisdiction unit exist intersection, or the boundary part of the application airspace and the boundary classification of the jurisdiction unit exist intersection, or the internal part of the application airspace and the boundary part of the jurisdiction unit exist intersection, and the internal part of the application airspace and the external part of the jurisdiction unit exist intersection, it is judged that the geographic spatial information of the application airspace and the geographic spatial information of the jurisdiction unit exist intersection; B represents apart relationship, when the internal part of the application airspace and the internal part of the jurisdiction unit do not exist intersection, and the internal part of the application airspace and the boundary part of the jurisdiction unit do not exist intersection, and the boundary part of the application airspace and the internal boundary part of the jurisdiction unit do not exist intersection, and the boundary part of the application airspace and the boundary part of the jurisdiction unit do not exist intersection, it is judged that the geographic spatial information of the application airspace and the geographic spatial information of the jurisdiction unit are apart, that is, there is no any overlapping part; C represents internal relationship, when the internal part of the application airspace and the internal part of the jurisdiction unit exist intersection, and the external part of the application airspace and the internal part of the jurisdiction unit do not exist intersection, and the external part of the application airspace and the boundary part of the jurisdiction unit do not exist intersection, it is judged that the geographic spatial information of the application airspace contains the geographic spatial information of the jurisdiction unit; D represents same relationship, when the internal part of the application airspace and the internal part of the jurisdiction unit exist intersection, and the internal part of the application airspace and the external part of the jurisdiction unit do not exist intersection, and the external part of the application airspace and the external part of the jurisdiction unit do not exist intersection, and the internal part of the application airspace and the external part of the jurisdiction unit do not exist intersection, and the boundary part of the application airspace and the boundary part of the jurisdiction unit do not exist intersection, it is judged that the geographic spatial information of the application airspace and the spatial information of the jurisdiction unit are the same; E represents overlapping relationship, when the internal part of the application airspace and the internal part of the jurisdiction unit exist intersection, and the internal part of the application airspace and the internal part of the jurisdiction unit exist intersection, and the external part of the application airspace and the internal part of the jurisdiction unit exist intersection, it is judged that the geographic spatial information of the application airspace and the geographic spatial information of the jurisdiction unit overlap; F represents abutment relationship, when the internal part of the application airspace and the internal part of the jurisdiction unit do not exist intersection, and the internal part of the application airspace and the boundary part of the jurisdiction unit exist intersection; or the internal part of the application airspace and the internal part of the jurisdiction unit do not exist intersection, and the boundary part of the application airspace and the internal part of the jurisdiction unit exist intersection; or the internal part of the application airspace and the internal part of the jurisdiction unit do not exist intersection, and the boundary part of the application airspace and the boundary part of the jurisdiction unit do not exist intersection, it is judged that the geographic spatial information of the application airspace and the geographic spatial information of the jurisdiction unit abut;

[0063] 316) The spatial relationship matrix of the application airspace and each jurisdiction unit is converted into an approval relationship matrix C, as follows:

[0064] (22)

[0065] (23)

[0066] wherein, indicates whether the application airspace involves the first jurisdiction, and involves 1, and does not involve 0.

[0067] Further, the specific steps 4) include:

[0068] 41) According to the approval relationship model constructed in step 2), determine the next approval level;

[0069] 42) Obtain jurisdiction unit information belonging to the next approval level from the jurisdiction information table AUTHORITY_INFO;

[0070] 43) Calculate the jurisdiction unit information obtained in step 42) for the approval relationship, obtain the approval relationship matrix and the multi-level relationship matrix of each approval node in the next approval level, judge the approval relationship according to the multi-level relationship matrix; identify the jurisdiction of the approval according to the approval relationship matrix, and perform the directional distribution of the approval process to realize the automatic distribution of the approval process.

[0071] Further, the step 43) specifically includes:

[0072] 431) According to the multi-level relationship matrix calculated in step 32), judge the approval relationship, and the provincial and municipal approval can dynamically identify three cases of city, cross-city and cross-province, the city case is distributed to the jurisdiction with municipal approval authority for approval; the cross-city and cross-province cases are distributed to the jurisdiction with provincial approval authority for approval;

[0073] 432) According to the approval relationship matrix calculated in step 31), distribute the approval process to the corresponding jurisdiction for approval.

[0074] The beneficial effects of the present application are:

[0075] 1. The present application designs an airspace approval relationship model based on spatial topological relationship, and realizes automatic calculation of approval responsibility units;

[0076] 2. The present application combines spatial topological relationship calculation and Flowable workflow engine, designs an automatic transfer mode of low-altitude airspace application approval, realizes automatic distribution of application approval process in various low-altitude operation complex situations such as cross-province and cross-city, and solves the problem of complex approval relationship. BRIEF DESCRIPTION OF DRAWINGS

[0077] Figure 1 A flow chart of the principle of the method of the present application. DETAILED DESCRIPTION

[0078] For the convenience of those skilled in the art, the present application will be further described below in conjunction with the embodiments and the accompanying drawings, and the content mentioned in the embodiments is not a limitation of the present application.

[0079] A low-altitude airspace approval automatic distribution system based on spatial topological relationship and workflow of the present application comprises:

[0080] An airspace application module of an operator, for receiving and storing airspace application information submitted by the operator;

[0081] An approval process module, for constructing an approval relationship model to generate approval nodes at various levels and a topological relationship network between the approval nodes at various levels;

[0082] An approval relationship calculation module, for performing spatial calculation based on airspace geographic spatial information in the airspace application information, calculating the jurisdictional scope of different jurisdictions involved in the applied airspace, and judging the approval relationship;

[0083] An automatic distribution and circulation module, for calculating the approval relationship of each approval node in the approval hierarchy based on the airspace application information submitted by the operator, the constructed approval relationship model, and the obtained approval relationship, circulating and distributing the approval information to the corresponding approval nodes in the approval hierarchy for approval according to the approval hierarchy;

[0084] An approval module, for completing the approval of all approval nodes at the current approval level, performing approval relationship calculation on the next approval level and approval node, and distributing the approval process until all approval levels complete the approval.

[0085] REFERENCE Figure 1 As shown in the accompanying drawings, a low-altitude airspace approval automatic distribution method based on spatial topological relationship and workflow of the present application comprises the following steps:

[0086] 1) Receiving and storing airspace application information submitted by the operator; specifically including:

[0087] 11) Establishing an airspace application information table AIRSPACE, which specifically includes airspace name, airspace type, use time, applicant information, contact person, contact number, approval status, and approval opinion; the airspace application information table AIRSPACE stores the airspace application information submitted by the operator;

[0088] 12) an airspace geographic information structure table AIRSPACE_STRUCT is established, which specifically includes: airspace name, airspace shape, airspace longitude set, airspace latitude set, and airspace height range; the airspace geographic information structure table AIRSPACE_STRUCT stores airspace geographic spatial information of airspace applied by an operator.

[0089] 2) an approval relationship model is constructed to generate topological relationship networks among approval nodes at all levels; specifically including:

[0090] 21) an authority information table AUTHORITY_INFO is established, which specifically includes: authority name, authority type, authority geographic spatial information, and authority information update time; the authority information table AUTHORITY_INFO stores basic information and geographic spatial information of an authority, and the basic information includes: authority name and authority type;

[0091] 22) a multi-level relationship table MULTILEVEL_RELATION is established, which specifically includes: authority name, belonging level, parent level, and update time; the multi-level relationship table MULTILEVEL_RELATION stores the level to which each authority unit currently belongs and the level relationship information of the previous level;

[0092] 23) based on the Flowable workflow engine, the approval relationship model is configured based on the authority type in the authority information table AUTHORITY_INFO established in step 21) ; different authority types set in the authority information table AUTHORITY_INFO are used as approval levels to establish approval networks at all levels; authorities of the same authority type are used as nodes at the same level, which are placed in different nodes of the workflow through Flowable to generate approval nodes at all levels; according to actual approval processes and requirements, the transfer order and transfer relationship among the approval nodes are determined to link the approval nodes at all levels, configure the order of the approval levels and the approval nodes, and construct a topological relationship network of the approval nodes to complete the construction of the approval process; for cases involving multiple authorities, the approval relationship model can dynamically adjust the approval path, and the approval relationship model expression is as follows:

[0093] (1)

[0094] (2)

[0095] wherein, is the th approval level, is the number of levels of the constructed approval relationship model; is the th approval level in the th approval level.an approval node, For the number of approval nodes in the approval level.

[0096] 3) Spatial calculation according to airspace geographic spatial information in airspace application information, calculation of different jurisdictional scope involved in the applied airspace, judgment of approval relationship; specifically including:

[0097] 31) Spatial relationship calculation method based on DE-9IM spatial relationship model is adopted to calculate the spatial relationship of the applied airspace information; based on the DE-9IM spatial relationship model, the characteristics of the spatial relationship between two objects are described, the airspace spatial range is compared with the jurisdiction, the relative relationship between the airspace spatial range and the jurisdictional range is calculated, and the spatial topological relationship intersection matrix is constructed, the relative relationship between the applied airspace and each jurisdictional range is obtained, the approval relationship matrix is obtained, and the jurisdictional information involved in the applied airspace is determined;

[0098] 32) According to the approval relationship matrix calculated in step 31), the jurisdictional areas with spatial overlap with the geographic spatial information of the applied airspace are screened out, the corresponding jurisdictional multi-level relationship is queried from the multi-level relationship table MULTILEVEL_RELATION established in step 22), and the multi-level relationship matrix Re is established, the expression is as follows:

[0099] (3)

[0100] (4)

[0101] (5)

[0102] Among them, represents the first belonging level of different jurisdictional areas involved in the applied airspace, represents the number of different belonging levels, =1, the applied airspace only involves one belonging level; represents the first parent level of different jurisdictional areas involved in the applied airspace, represents the number of different parent levels, =1, the applied airspace only involves one parent level.

[0103] Specifically, the step 31) specifically includes:

[0104] 311) Based on the applied airspace geographic spatial information, the spatial matrix of the applied airspace is obtained , the integer of the median of the longitudeFor the zoning value, the spatial matrix is converted into a spatial matrix in the Gauss coordinate system by Gauss projection , and the expression is as follows:

[0105] (6)

[0106] (7)

[0107] (8)

[0108] (9)

[0109] (10)

[0110] wherein, is the i-th longitude and latitude point of the applied airspace geospatial information; and are the longitude and latitude of the i-th point, respectively; is the i-th longitude and latitude point of the converted Gauss coordinate system; and are the longitude and latitude of the i-th point in the Gauss coordinate system, respectively; is the number of coordinate points in the applied airspace geospatial information; represents the median of the spatial matrix ; is a ceiling function; is a Gauss projection conversion function, and the input is the zoning value and the spatial matrix; 312) Based on the jurisdictional range geospatial information data in the jurisdiction information table AUTHORITY_INFO, a jurisdictional spatial matrix set is generated , and based on , the is converted into a jurisdictional range spatial matrix set in the Gauss coordinate system

[0111] , and the expression is as follows: (11)

[0112] (12)

[0113] (13)

[0114] (14)

[0115] (15)

[0116] ​​​(15)

[0117] (16)

[0118] wherein, represents the geospatial information of the jurisdictional range of the th jurisdiction in the AUTHORITY_INFO table; represents the longitude and latitude of the th point of the geospatial information of the jurisdictional range of the th jurisdiction; and respectively represent the longitude and latitude of the th point; represents the th jurisdiction in the converted Gauss coordinate system; represents the longitude and latitude of the th point of the geospatial information of the jurisdictional range of the th jurisdiction after conversion; and respectively represent the longitude and latitude of the th point of the th jurisdiction after conversion; represents the number of jurisdictions in the AUTHORITY_INFO table, represents the number of coordinate points in the geospatial information of the jurisdictional range of each jurisdiction;

[0119] 313) Grid processing: grid the point, line, and surface by taking the point as the basic unit, the point as a single grid, the line as a series of continuous point grids, and the surface as a closed interval of connected lines, and each grid is represented by quantized horizontal and vertical coordinates; the spatial matrix of the application airspace is grid processed to obtain the internal component of the application airspace, the boundary component of the application airspace, and the external component of the application airspace; the spatial matrix set of the jurisdiction is grid processed to obtain the internal component set of the jurisdiction, the boundary component of the jurisdiction, and the external component of the jurisdiction, and the expressions are as follows:

[0120] (17)

[0121] (18)

[0122] wherein, , and respectively represent the The first internal component, the first Each edge component and An external component, The number of internal components. The number of boundary components. The number of external components; , and The first The set of spatial domain matrices of each jurisdiction The first internal component, the first Each edge component and An external component, The number of internal components. The number of boundary components. The number of external components;

[0123] 314) Dimension Calculation: Calculate the dimensions of each component of the requested airspace and each component of the jurisdiction set to obtain the spatial relationship cross matrix between the requested airspace and each jurisdiction. The expression is as follows:

[0124] (19)

[0125] in, The dimension representing the intersection of two components takes the values ​​0, 1, 2, and null.

[0126] 315) Cross matrix of the spatial relationship between the requested airspace and each jurisdiction By comparing with the spatial topology cross-matrix table, the spatial relationship matrix between the requested airspace and each jurisdiction is obtained. ,as follows:

[0127] (20)

[0128] (twenty one)

[0129] in, Indicates the application for airspace and the first The spatial relationships of each jurisdiction are represented by A, B, C, D, E, and F in the spatial topology cross matrix table. A represents the intersection relationship. An intersection is determined when the internal components of the requested airspace intersect with the internal components of a jurisdiction unit, or the internal components of the requested airspace intersect with the boundary components of a jurisdiction unit, or the boundary components of the requested airspace intersect with the internal components of a jurisdiction unit, or the boundary components of the requested airspace intersect with the boundary classification of a jurisdiction unit, or the internal components of the requested airspace intersect with the boundary components of a jurisdiction unit, and the internal components of the requested airspace intersect with the external components of a jurisdiction unit; B represents the intersection between the geospatial information of the requested airspace and the geospatial information of the jurisdiction unit. The first line represents a separation relationship. When the internal components of the requested airspace do not intersect with the internal components of the jurisdictional unit, and the internal components of the requested airspace do not intersect with the boundary components of the jurisdictional unit, and the boundary components of the requested airspace do not intersect with the internal boundary components of the jurisdictional unit, and the boundary components of the requested airspace do not intersect with the boundary components of the jurisdictional unit, then the geospatial information of the requested airspace is determined to be separation from the geospatial information of the jurisdictional unit, meaning there is no overlap. The second line represents an intension relationship. When the internal components of the requested airspace intersect with the internal components of the jurisdictional unit, and the external components of the requested airspace do not intersect with the internal components of the jurisdictional unit, and the external components of the requested airspace do not intersect with the boundary components of the jurisdictional unit, then the geospatial information of the requested airspace is determined to be separation from the geospatial information of the jurisdictional unit, meaning there is no overlap. The geospatial information of the domain includes the geospatial information of the units within its jurisdiction; D represents the same relationship: when the internal components of the applied airspace intersect with the internal components of the units within its jurisdiction, and the internal components of the applied airspace do not intersect with the external components of the units within its jurisdiction, and the external components of the applied airspace do not intersect with the external components of the units within its jurisdiction, and the boundary components of the applied airspace do not intersect with the boundary components of the units within its jurisdiction, then the geospatial information of the applied airspace is determined to be the same as the spatial information of the units within its jurisdiction; E represents the overlapping relationship: when the internal components of the applied airspace intersect with the internal components of the units within its jurisdiction, and the internal components of the applied airspace intersect with the boundary components of the units within its jurisdiction, then the geospatial information of the applied airspace is determined to be the same as the spatial information of the units within its jurisdiction; If the external component of the applied airspace intersects with the internal component of the jurisdictional unit, then the geospatial information of the applied airspace is determined to overlap with the geospatial information of the jurisdictional unit; F represents the connection relationship. When the internal component of the applied airspace does not intersect with the internal component of the jurisdictional unit, but the internal component of the applied airspace intersects with the boundary component of the jurisdictional unit; or the internal component of the applied airspace does not intersect with the internal component of the jurisdictional unit, but the boundary component of the applied airspace intersects with the internal component of the jurisdictional unit; or the internal component of the applied airspace does not intersect with the internal component of the jurisdictional unit, but the boundary component of the applied airspace does not intersect with the boundary component of the jurisdictional unit, then the geospatial information of the applied airspace is determined to be connected with the geospatial information of the jurisdictional unit.

[0130] 316) Create a spatial relationship matrix between the requested airspace and each jurisdiction. The resulting approval relationship matrix C is as follows:

[0131] (22)

[0132] (23)

[0133] wherein, indicates whether the airspace application involves the first jurisdiction, 1 for yes, 0 for no.

[0134] 4) According to the airspace application information submitted by the operator, and based on the approval relationship model constructed in step 2) and the approval relationship determined in step 3), the approval relationship of each approval node in the approval hierarchy is calculated, and the approval information is circulated according to the approval hierarchy and distributed to the corresponding approval nodes in the approval hierarchy for approval; the specific includes:

[0135] 41) According to the approval relationship model constructed in step 2), determine the next approval level;

[0136] 42) Obtain jurisdiction unit information belonging to the next approval level from the jurisdiction information table AUTHORITY_INFO;

[0137] 43) Calculate the jurisdiction unit information obtained in step 42) for approval relationship, obtain the approval relationship matrix and multi-level relationship matrix of each approval node in the next approval level, and determine the approval relationship according to the multi-level relationship matrix; according to the approval relationship matrix, identify the jurisdiction of the approval, and perform directional distribution of the approval process to realize automatic distribution of the approval process.

[0138] Specifically, the step 43) specifically includes:

[0139] 431) According to the multi-level relationship matrix calculated in step 32), determine the approval relationship, and the provincial and municipal approval can dynamically identify the three cases of intracity, cross-city without crossing province and crossing province, the intracity case is distributed to the jurisdiction with municipal approval authority for approval; the cross-city without crossing province and the crossing province cases are distributed to the jurisdiction with provincial approval authority for approval;

[0140] 432) According to the approval relationship matrix calculated in step 31), distribute the approval process to the corresponding jurisdiction for approval.

[0141] 5) Complete all approvals of all approval nodes in the current approval level, perform approval relationship calculation on the next approval level and approval node, and distribute the approval process until all approval levels complete the approval.

[0142] The application has many specific application approaches, and the above description is only the preferred embodiment of the application, and it should be pointed out that, for ordinary skilled in the art, several improvements can be made without departing from the principles of the application, and these improvements should also be considered as the protection scope of the application.

Claims

1. A low-altitude airspace approval and automatic distribution system based on spatial topology and workflow, characterized in that, include: The operator's airspace application module is used to receive and store airspace application information submitted by the operator; The approval process module is used to build an approval relationship model to generate a topological network of approval nodes at all levels and the relationships between them. Specifically, it includes: Establish a jurisdiction information table AUTHORITY_INFO, which specifically includes: jurisdiction name, jurisdiction type, jurisdiction geospatial information and jurisdiction information update time; the jurisdiction information table AUTHORITY_INFO stores the basic information and geospatial information of the jurisdiction, the basic information including: jurisdiction name and jurisdiction type. Establish a multi-level relation table MULTILEVEL_RELATION, which includes: jurisdiction name, level, parent level and update time; the multi-level relation table MULTILEVEL_RELATION stores the current level to which each jurisdiction unit belongs and the hierarchical relationship information of its parent level; Based on the Flowable workflow engine, and combined with the jurisdiction types in the established jurisdiction information table AUTHORITY_INFO, an approval relationship model A is configured. Different jurisdiction types set in the AUTHORITY_INFO table are used as approval levels, establishing approval networks at each level. Jurisdictions of the same type are treated as nodes of the same level and placed at different nodes in the workflow using Flowable to generate approval nodes at each level. Based on the actual approval process and requirements, the flow order and relationship between each approval node are determined, connecting approval nodes at each level. The order of each approval level and approval node is configured to construct the approval node topology network, thus completing the approval process. For cases involving multiple jurisdictions, the approval relationship model can dynamically adjust the approval path. The expression for the approval relationship model is as follows: A={A1,A2,...,A k (1) A k ={a1,a2,...,a j } (2) Where, A k Let k be the k-th approval level, where k is the number of levels in the constructed approval relationship model; a j For A k The j-th approval node in the approval hierarchy, where j is A k The number of approval nodes in the approval hierarchy; The approval relationship calculation module is used to perform spatial calculations based on the airspace geospatial information in the airspace application information, to calculate the jurisdictional scope of different areas involved in the applied airspace, and to determine the approval relationship; specifically including: A spatial relationship calculation method based on the DE-9IM spatial relationship model is used to calculate the spatial information of the applied airspace. Based on the characteristics of the spatial relationship between two objects described by the DE-9IM spatial relationship model, the spatial range of the airspace is compared with the jurisdiction, and the relative relationship between the internal, external and boundary of the airspace spatial range and the jurisdiction is calculated. In this way, a spatial topology relationship cross matrix is ​​constructed to obtain the relative relationship between the applied airspace and the jurisdiction of each jurisdiction, and the approval relationship matrix is ​​obtained to determine the jurisdiction information involved in the applied airspace. Based on the calculated approval relationship matrix, jurisdictions that spatially overlap with the geospatial information of the applied airspace are selected. The corresponding multi-level relationships of the jurisdictions are retrieved from the established multi-level relationship table MULTILEVEL_RELATION, and a multi-level relationship matrix Re is established, with the following expression: Re={Re 1 ,Re 2 } (3) in, This indicates the k-th jurisdictional level involved in the airspace application, where k represents the number of different jurisdictional levels. When k=1, the airspace application involves only one jurisdictional level. This represents the p-th parent level of the different jurisdictions involved in the airspace application, where p represents the number of different parent levels. When p = 1, the airspace application involves only one parent level. The automatic distribution and circulation module is used to calculate the approval relationship of each approval node in the approval hierarchy based on the airspace application information submitted by the operator and the constructed approval relationship model and the obtained approval relationship. The module then circulates the approval information according to the approval hierarchy and distributes it to the corresponding approval node in the approval hierarchy for approval. The approval module is used to complete all approvals for all approval nodes at the current approval level, calculate the approval relationship for the next approval level and approval nodes, and distribute the approval process until all approval levels have completed the approval.

2. A method for automatic distribution of low-altitude airspace approvals based on spatial topology and workflow, characterized in that, The steps are as follows: 1) Receive and store airspace application information submitted by operators; 2) Construct an approval relationship model to generate a topological relationship network between approval nodes at all levels and between approval nodes at all levels; 3) Perform spatial calculations based on the airspace geospatial information in the airspace application information to calculate the jurisdiction of different areas involved in the applied airspace and determine the approval relationship; 4) Based on the airspace application information submitted by the operator, and based on the approval relationship model constructed in step 2) and the approval relationship determined in step 3), calculate the approval relationship of each approval node in the approval hierarchy, and distribute the approval information to the corresponding approval node in the approval hierarchy for approval. 5) Complete all approvals for all approval nodes at the current approval level, calculate the approval relationship for the next approval level and approval nodes, and distribute the approval process until all approval levels have completed approvals. Step 2) specifically includes: 21) Establish the jurisdiction information table AUTHORITY_INFO, which specifically includes: jurisdiction name, jurisdiction type, jurisdiction geospatial information and jurisdiction information update time; the jurisdiction information table AUTHORITY_INFO stores the basic information and geospatial information of the jurisdiction, the basic information including: jurisdiction name and jurisdiction type. 22) Establish a multi-level relation table MULTILEVEL_RELATION, which specifically includes: jurisdiction name, level, parent level and update time; the multi-level relation table MULTILEVEL_RELATION stores the current level to which each jurisdiction unit belongs and the hierarchical relationship information of its parent level; 23) Based on the Flowable workflow engine, and combined with the jurisdiction types in the AUTHORITY_INFO table established in step 21), configure approval relationship model A; establish approval networks at all levels for different jurisdiction types set in the AUTHORITY_INFO table as approval levels; treat jurisdictions of the same type as nodes of the same level, and place them on different nodes of the workflow using Flowable to generate approval nodes at all levels; determine the flow order and flow relationship between each approval node according to the actual approval process and requirements, connect approval nodes at all levels, configure the order of each approval level and approval node, and construct the approval node topology network to complete the construction of the approval process; for cases involving multiple jurisdictions, the approval relationship model can dynamically adjust the approval path. The expression of the approval relationship model is as follows: A={A1,A2,...,A k (1) A k ={a1,a2,...,a j } (2) Where, A k Let k be the k-th approval level, where k is the number of levels in the constructed approval relationship model; a j For A k The j-th approval node in the approval hierarchy, where j is A k The number of approval nodes in the approval hierarchy; Step 3) specifically includes: 31) The spatial relationship calculation method based on the DE-9IM spatial relationship model is used to calculate the spatial information of the applied airspace. Based on the characteristics of the spatial relationship between two objects described by the DE-9IM spatial relationship model, the spatial range of the airspace is compared with the jurisdiction, and the relative relationship between the internal, external and boundary of the airspace spatial range and the jurisdiction is calculated. In this way, a spatial topology relationship cross matrix is ​​constructed to obtain the relative relationship between the applied airspace and the jurisdiction of each jurisdiction, and the approval relationship matrix is ​​obtained to determine the jurisdiction information involved in the applied airspace. 32) Based on the approval relationship matrix calculated in step 31), filter out the jurisdictions that spatially overlap with the geospatial information of the applied airspace. Query the corresponding jurisdictional multi-level relationships from the multi-level relationship table MULTILEVEL_RELATION established in step 22), and establish a multi-level relationship matrix Re, with the following expression: Re={Re 1 ,Re 2 } (3) in, This indicates the k-th jurisdictional level involved in the airspace application, where k represents the number of different jurisdictional levels. When k=1, the airspace application involves only one jurisdictional level. This represents the p-th parent level of the different jurisdictions involved in the airspace application, where p represents the number of different parent levels. When p=1, the airspace application involves only one parent level.

3. The method for automatic distribution of low-altitude airspace approvals based on spatial topology and workflow according to claim 2, characterized in that, Step 1) specifically includes: 11) Establish an airspace application information form AIRSPACE, which specifically includes: airspace name, airspace type, usage time, applicant information, contact person, contact number, approval status and approval comments; the airspace application information form AIRSPACE stores the airspace application information submitted by the operator; 12) Establish the airspace geographic information structure table AIRSPACE_STRUCT, which specifically includes: airspace name, airspace shape, airspace longitude set, airspace latitude set, and airspace altitude range; the airspace geographic information structure table AIRSPACE_STRUCT stores the airspace geospatial information of the airspace applied for by the operator.

4. The method for automatic distribution of low-altitude airspace approvals based on spatial topology and workflow as described in claim 2, characterized in that, Step 31) specifically includes: 311) Based on the requested airspace geospatial information, obtain the spatial matrix L of the requested airspace. Using the integer λ of the median of longitude as the zone value, transform the spatial matrix into a spatial matrix LG in the Gaussian coordinate system using Gaussian projection. The expression is as follows: L＝{l1,l2,...,l i} (6) l i ={lon i ,years i } (7) λ=CEIL(MEDINA(L)) (8) LG={lg1,lg2,...,lg i }=GS(λ,L) (9) lg i ={lon′ i ,years' i } (10) Among them, l i For the i-th latitude and longitude point of the requested airspace geospatial information; lon i and lat i They are the longitude and latitude of the i-th point, respectively; lg i Let lon′ be the i-th latitude and longitude point in the transformed Gaussian coordinate system. i and lat′ i , i and ii, respectively, are the longitude and latitude of the i-th point in the Gaussian coordinate system; i is the number of coordinate points in the requested airspace geospatial information; MEDINA(L) represents the median of the spatial matrix L; CEIL() is the floor function; GS() is the Gaussian projection transformation function, with the input being the zone value and the spatial matrix; 312) Based on the geospatial information data of the jurisdictional area in the jurisdictional information table AUTHORITY_INFO, generate the jurisdictional spatial matrix set AL, and based on λ, transform AL into the jurisdictional spatial matrix set ALG in Gaussian coordinate system, as shown in the following expression: AL={AL1,AL2,...,AL m (11) ALG={ALG1,ALG2,...,ALG m } (14) Among them, AL m This represents the geospatial information of the jurisdiction of the m-th district in the AUTHORITY_INFO table; This refers to the nth latitude and longitude point of the geospatial information of the mth jurisdiction; and These are the longitude and latitude of the nth point, respectively; ALG m This represents the m-th region in the transformed Gaussian coordinate system. This refers to the nth latitude and longitude point of the geospatial information of the mth jurisdiction after conversion; and These are the longitude and latitude of the nth point in the mth jurisdiction after conversion; m is the number of jurisdictions in the AUTHORITY_INFO table, and n is the number of coordinate points in the geospatial information of each jurisdiction. 313) Mesh Processing: Points, lines, and surfaces are meshed using points as the basic unit. Points are treated as single grids, lines as grid chains composed of a series of continuous points, and surfaces as grid surfaces representing closed intervals formed by interconnected lines. Each grid is represented by quantized horizontal and vertical coordinates. The spatial matrix LG of the requested airspace is meshed to obtain the internal components ILG, the boundary components BLG, and the external components ELG of the requested airspace. The spatial matrix set ALG of the jurisdiction is meshed to obtain the internal component set IALG, the boundary components BALG, and the external components EALG of the jurisdiction, expressed as follows: Among them, IP x bp y and ep z These represent the x-th internal component, y-th edge component, and z-th external component of the spatial domain matrix, respectively, where x is the number of internal components, y is the number of edge components, and z is the number of external components. and Let be the o-th internal component, p-th edge component, and q-th external component of the spatial matrix set of the m-th jurisdiction, respectively, where o is the number of internal components, p is the number of edge components, and q is the number of external components; 314) Dimension Calculation: Calculate the dimensions of each component of the requested airspace and each component of the jurisdiction set to obtain the spatial relationship cross matrix SR between the requested airspace and each jurisdiction. The expression is as follows: Where dim(∩) represents the dimension of the intersection of the two components, and takes values ​​of 0, 1, 2 and empty; 315) Compare the spatial relationship cross matrix SR between the requested airspace and each jurisdiction with the spatial topology relationship cross matrix table to obtain the spatial relationship matrix R between the requested airspace and each jurisdiction, as follows: R＝{r1,r2,...,r m} (20) r m =(A|B|C|D|E|F) (21) Where, r m This represents the spatial relationship between the requested airspace and the m-th jurisdiction, with values ​​A, B, C, D, E, and F from the spatial topology cross matrix table. A represents the intersection relationship. A relationship is determined when the internal components of the requested airspace intersect with the internal components of the jurisdiction unit, or the internal components of the requested airspace intersect with the boundary components of the jurisdiction unit, or the boundary components of the requested airspace intersect with the internal components of the jurisdiction unit, or the boundary components of the requested airspace intersect with the boundary classification of the jurisdiction unit, or the internal components of the requested airspace intersect with the boundary components of the jurisdiction unit, and the internal components of the requested airspace intersect with the external components of the jurisdiction unit. A represents a disjoint relationship: when the internal components of the applied airspace do not intersect with the internal components of the jurisdictional unit, and the internal components of the applied airspace do not intersect with the boundary components of the jurisdictional unit, and the boundary components of the applied airspace do not intersect with the internal boundary components of the jurisdictional unit, then the geospatial information of the applied airspace is determined to be disjoint from the geospatial information of the jurisdictional unit, i.e., there is no overlap; C represents an intensional relationship: when the internal components of the applied airspace intersect with the internal components of the jurisdictional unit, and the external components of the applied airspace do not intersect with the internal components of the jurisdictional unit, and the external components of the applied airspace do not intersect with the boundary components of the jurisdictional unit, then the geospatial information of the applied airspace is determined to be disjoint from the geospatial information of the jurisdictional unit, i.e., there is no overlap; C represents an intensional relationship: when the internal components of the applied airspace intersect with the internal components of the jurisdictional unit, and the external components of the applied airspace intersect with the boundary components of the jurisdictional unit, then the geospatial information of the applied airspace is determined to be disjoint from the geospatial information of the jurisdictional unit, i.e., there is no overlap; The geospatial information of the requested airspace includes the geospatial information of the jurisdictional units; D represents the same relationship, where the internal components of the requested airspace intersect with the internal components of the jurisdictional units, and the internal components of the requested airspace do not intersect with the external components of the jurisdictional units, and the external components of the requested airspace do not intersect with the external components of the jurisdictional units, and the boundary components of the requested airspace do not intersect with the boundary components of the jurisdictional units, then the geospatial information of the requested airspace is determined to be the same as the spatial information of the jurisdictional units; E represents the overlapping relationship, where the internal components of the requested airspace intersect with the internal components of the jurisdictional units, and the boundary components of the requested airspace do not intersect with the boundary components of the jurisdictional units. If the external component of the requested airspace intersects with the internal component of the jurisdictional unit, then the geospatial information of the requested airspace is determined to overlap with the geospatial information of the jurisdictional unit; F represents the connection relationship. If the internal component of the requested airspace does not intersect with the internal component of the jurisdictional unit, but the internal component of the requested airspace intersects with the boundary component of the jurisdictional unit; or if the internal component of the requested airspace does not intersect with the internal component of the jurisdictional unit, but the boundary component of the requested airspace intersects with the internal component of the jurisdictional unit; or if the internal component of the requested airspace does not intersect with the internal component of the jurisdictional unit, but the boundary component of the requested airspace does not intersect with the boundary component of the jurisdictional unit, then the geospatial information of the requested airspace is determined to be connected with the geospatial information of the jurisdictional unit. 316) Transform the spatial relationship matrix R between the applied airspace and each jurisdiction into the approval relationship matrix C, as follows: C={c1,c2,...,c m } (22) Among them, c m This indicates whether the requested airspace involves the m-th jurisdiction; 1 indicates involvement, and 0 indicates non-involvement.

5. The method for automatic distribution of low-altitude airspace approvals based on spatial topology and workflow according to claim 2, characterized in that, Step 4) specifically includes: 41) Based on the approval relationship model constructed in step 2), determine the next approval level; 42) Obtain information on jurisdictional units belonging to the next approval level from the AUTHORITY_INFO jurisdiction information table; 43) Calculate the approval relationship of the jurisdictional unit information obtained in step 42), obtain the approval relationship matrix and multi-level relationship matrix of each approval node in the next approval level, determine the approval relationship based on the multi-level relationship matrix, identify the jurisdiction of the approval based on the approval relationship matrix, and carry out targeted distribution of the approval process to realize the automatic distribution of the approval process.

6. The method for automatic distribution of low-altitude airspace approvals based on spatial topology and workflow as described in claim 5, characterized in that, Step 43) specifically includes: 431) Based on the multi-level relationship matrix calculated in step 32), determine the approval relationship. The provincial and municipal level approval can dynamically identify three situations: intra-city, cross-city but not cross-province, and cross-province. Intra-city situations are distributed to the jurisdiction with municipal approval authority for approval; cross-city but not cross-province and cross-province situations will be distributed to the jurisdiction with provincial approval authority for approval. 432) Based on the approval relationship matrix calculated in step 31), the approval process is distributed to the corresponding jurisdiction for approval.

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