A low-altitude task allocation method, device and medium

Abstract

The present application belongs to the technical field of low-altitude flight control, and discloses a low-altitude task allocation method, equipment and medium, which comprises the following steps: acquiring and storing a set of airspace operation unit historical operation characteristic parameters containing task interruption frequency, interruption-related abnormality occurrence probability and system influence degree index; then acquiring task correlation information of a to-be-allocated task and calculating a failure propagation sensitivity parameter thereof; subsequently screening candidate airspace operation units according to basic operation requirements of the task and acquiring a set of characteristic parameters of the candidate airspace operation units; then calculating a combined risk value of the task and the candidate airspace, and determining that the candidate airspace is a suitable allocation unit if the combined risk value is lower than a preset threshold; and finally determining a final execution airspace based on the combined risk value of the suitable allocation unit. The present application realizes accurate matching of the task and the airspace, effectively reduces the cascading failure risk of low-altitude operation, and improves the system operation stability and airspace resource utilization rate.

Description

Technical Field

[0001] This invention relates to the field of low-altitude flight control technology, and more specifically, to a low-altitude mission allocation method, device, and medium. Background Technology

[0002] The development of low-altitude flight control technology has promoted the widespread application of various low-altitude missions such as inspection, monitoring, and relay. Multi-aircraft, multi-mission parallel operation has become the mainstream scenario for low-altitude operations. Low-altitude airspace is affected by factors such as temporary control measures, ground obstructions, and fluctuations in communication coverage, exhibiting localized and intermittent fragmentation characteristics. Repeated mission interruptions often occur in the same airspace within similar time periods, and airspace availability shows a significant historical correlation.

[0003] The consequences of failure vary significantly across different low-altitude missions. Some mission failures only affect a single execution, while failures in relay or critical node missions can trigger communication link interruptions, mission chain breaks, and ultimately lead to a cascading failure of multiple aircraft. Existing low-altitude mission allocation methods often address airspace characteristics and mission risks separately, either assessing mission success probability solely based on historical airspace interruption frequencies or judging the impact of failure based solely on mission priority, without establishing a correlation mechanism between airspace fragmentation characteristics and mission failure propagation.

[0004] In existing technologies, the differences in the propagation range of the same task failure in different airspaces are ignored, and the degree of impact of different task failures in the same airspace is not distinguished. Ultimately, high-risk tasks with systemic impact may be deployed in airspaces that are prone to amplifying the consequences of failure, which significantly increases the risk of cascading failures in low-altitude operation systems, reduces overall operational stability, and fails to meet the needs of refined task scheduling in complex low-altitude environments. Summary of the Invention

[0005] In response, this application provides a low-altitude mission allocation method, device, and medium to at least partially solve the aforementioned technical problems.

[0006] According to one aspect of this application, a low-altitude mission allocation method is provided, comprising the following steps:

[0007] S1, acquire and store a set of historical operating characteristic parameters for multiple airspace operating units, wherein the set of historical operating characteristic parameters includes at least the frequency of task interruption, the probability of associated anomalies after interruption, and the system impact index.

[0008] S2, obtain the association information of the task to be assigned, and calculate the failure propagation sensitivity parameter of the task based on the association information;

[0009] S3, Based on the basic operational requirements of the task to be assigned, candidate airspace operation units are selected from the multiple airspace operation units, and the set of historical operational characteristic parameters corresponding to each candidate airspace operation unit is obtained.

[0010] S4. Based on the failure propagation sensitivity parameter of the task to be assigned and the set of historical operation characteristic parameters of each candidate airspace operation unit, calculate the combined risk value of the task to be assigned and each candidate airspace operation unit.

[0011] S5, determine the candidate airspace operation units whose combined risk value is lower than the preset risk threshold as suitable allocation units;

[0012] S6. Based on the combined risk values ​​of each of the suitable allocation units, determine the final execution airspace operation unit of the task to be allocated from the suitable allocation units.

[0013] In one possible embodiment, step S1 includes:

[0014] S101 divides the low-altitude airspace into multiple airspace operation units;

[0015] S102, acquire historical operation data for each airspace operation unit, the historical operation data including the task execution results of each task executed in the unit and related task status change data;

[0016] S103. Based on the historical operation data, for each airspace operation unit, calculate the frequency of task interruption, the probability of associated anomalies after interruption, and the degree of system impact.

[0017] In one possible embodiment, the system impact index is obtained by weighted summation of the quantified values ​​of at least two of the following impact factors: the number of related tasks affected, the key function limitation factor, and the task plan refactoring factor.

[0018] In one possible embodiment, step S2 includes:

[0019] S201, Identify the relationships between the tasks to be assigned, wherein the relationships include at least one of execution order dependency, data or function dependency, and resource sharing.

[0020] S202, based on the identified correlation, calculate the failure propagation sensitivity parameter of the task to be assigned from at least two dimensions: the degree to which the task to be assigned serves as a prerequisite for other tasks, the degree of impact of the failure of the task to be assigned on the communication link and task scheduling, and the number of aircraft and task units affected by the failure of the task to be assigned.

[0021] In one possible embodiment, in step S4, the formula for calculating the portfolio risk value is: Where R is the combined risk value, T is the failure propagation sensitivity parameter of the task to be assigned, f, p, and S are the task interruption frequency, the probability of associated anomalies after interruption, and the system impact index of the candidate airspace operation unit, respectively, and w1, w2, and w3 are preset weight coefficients.

[0022] In one possible embodiment, the suitable allocation units are prioritized according to their respective combined risk values ​​from smallest to largest;

[0023] Based on the sorting results, the highest priority suitable allocation unit is selected as the final execution space operation unit for the task to be allocated.

[0024] In one possible embodiment, the execution result of the task to be assigned is monitored within the final execution space operation unit;

[0025] When the execution result is task interruption or failure, and triggers associated task anomalies, the probability of occurrence of associated anomalies after interruption and / or the degree of system impact in the historical operation characteristic parameter set of the final execution space operation unit are updated based on the execution result, and / or the failure propagation sensitivity parameter of the task to be assigned is updated.

[0026] In another aspect, this application also provides a low-altitude mission allocation system, comprising:

[0027] The data storage module is used to acquire and store a set of historical operating characteristic parameters for multiple airspace operating units. The set of historical operating characteristic parameters includes at least the frequency of task interruption, the probability of associated anomalies after interruption, and the system impact index.

[0028] The sensitivity calculation module is used to obtain the association information of the tasks to be assigned, and calculate the failure propagation sensitivity parameter of the task based on the association information.

[0029] The unit filtering module is used to filter candidate airspace operation units from the multiple airspace operation units according to the basic operation requirements of the task to be assigned, and to obtain the set of historical operation characteristic parameters corresponding to each candidate airspace operation unit from the data storage module.

[0030] The combined risk calculation module is used to calculate the combined risk value of the task to be assigned and each candidate airspace operating unit based on the failure propagation sensitivity parameter of the task to be assigned and the set of historical operating characteristic parameters of each candidate airspace operating unit.

[0031] The suitability determination module is used to determine the candidate airspace operation units whose combined risk value is lower than the preset risk threshold as suitable allocation units;

[0032] The task allocation decision module is used to determine the final execution space operation unit of the task to be allocated from the suitable allocation units based on the combined risk value of each of the suitable allocation units.

[0033] In another aspect, this application also provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the low-altitude task allocation method as described above.

[0034] In another aspect, this application provides a computer-readable storage medium having stored thereon computer program instructions that can be executed by a processor to implement the low-altitude task allocation method described above.

[0035] In another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the low-altitude task allocation method as described above.

[0036] This application establishes a coupled correlation mechanism between airspace characteristics and mission failure propagation by constructing a multi-dimensional set of historical airspace operational characteristics parameters and mission failure propagation sensitivity parameters. This precisely quantifies the risks of mission-airspace combinations and enables differentiated allocation, effectively addressing the shortcomings of existing technologies that separate airspace and mission risk assessment. First, through the morphological memory of airspace failure consequences and the quantification of mission propagation sensitivity, refined allocation of low-altitude missions is achieved, allowing high-system-impact missions to avoid airspace amplification due to failures, while low-system-impact missions efficiently utilize fragmented airspace resources. Second, by employing a two-way parameter update mechanism, the allocation strategy is continuously optimized to dynamically adapt to changes in the airspace environment and mission structure, improving the overall operational stability of the system and the utilization rate of airspace resources, fully meeting the complex low-altitude operational needs of multiple aircraft and multiple missions operating in parallel. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1This is a schematic diagram of a low-altitude mission allocation method provided in an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the historical operating characteristic parameter acquisition process provided in the embodiments of this disclosure.

[0041] Figure 3 A schematic diagram illustrating the calculation process of the failure propagation sensitivity parameter provided in an embodiment of this disclosure.

[0042] Figure 4 This is a schematic diagram of a low-altitude mission allocation system provided in an embodiment of the present invention.

[0043] Figure 5 This is a schematic diagram of the structure of a device provided in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] It should be noted that all user information (including but not limited to user device information, user personal information, object information corresponding to device usage data, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, device usage data, etc.) involved in all embodiments of this disclosure are information and data authorized by the user or fully authorized by all parties.

[0046] The implementation process of the low-altitude mission allocation method of the present invention will be described in detail below with reference to specific embodiments. It should be noted that this embodiment is only used to explain the present invention and is not intended to limit the scope of protection of the present invention. Conventional adjustments or substitutions to each step by those skilled in the art without departing from the concept of the present invention should be included in the protection scope of the present invention.

[0047] like Figure 1 As shown in the diagram, this embodiment of the invention discloses a low-altitude mission allocation method, which includes the following method steps:

[0048] S1, acquire and store a set of historical operating characteristic parameters for multiple airspace operating units, wherein the set of historical operating characteristic parameters includes at least the frequency of task interruption, the probability of associated anomalies after interruption, and the system impact index.

[0049] S2, obtain the association information of the task to be assigned, and calculate the failure propagation sensitivity parameter of the task based on the association information;

[0050] S3, Based on the basic operational requirements of the task to be assigned, candidate airspace operation units are selected from the multiple airspace operation units, and the set of historical operational characteristic parameters corresponding to each candidate airspace operation unit is obtained.

[0051] S4. Based on the failure propagation sensitivity parameter of the task to be assigned and the set of historical operation characteristic parameters of each candidate airspace operation unit, calculate the combined risk value of the task to be assigned and each candidate airspace operation unit.

[0052] S5, determine the candidate airspace operation units whose combined risk value is lower than the preset risk threshold as suitable allocation units;

[0053] S6. Based on the combined risk values ​​of each of the suitable allocation units, determine the final execution airspace operation unit of the task to be allocated from the suitable allocation units.

[0054] This method is applicable to operational environments with the capability to organize and schedule low-altitude flight activities, covering various low-altitude flight missions such as inspection, monitoring, support, escort, and relay. Typically, the low-altitude airspace within the operational area experiences dynamic control, periodic availability changes, and historical operational status differences. The system can acquire historical execution results of low-altitude flight missions, the relationships between missions, and information on interruptions, failures, and their impact on other missions during mission execution. It is particularly suitable for low-altitude operation management scenarios involving multiple aircraft and multiple missions operating in parallel.

[0055] In some embodiments, for step S1, by scientifically dividing the airspace operation units, collecting historical operation data, and constructing a multi-dimensional characteristic parameter set, the shortcomings of the prior art in airspace memory that only focuses on whether it is prone to failure are solved, and the airspace memory is upgraded to failure consequence form memory, which is used for subsequent coupling risk assessment.

[0056] Please see Figure 2 , Figure 2 This is a schematic diagram of the historical operational characteristic parameter acquisition process provided in an embodiment of this disclosure. Specifically, in S101, the low-altitude airspace is divided into multiple airspace operation units.

[0057] First, each airspace operation unit can have a clear boundary in spatial location. The boundary can be defined by latitude and longitude coordinates or geographical landmarks. For example, a rectangular area enclosed by longitude 116.3°-116.4° and latitude 39.9°-40.0° can be used as a unit boundary to ensure that subsequent historical data statistics can accurately correspond to specific areas and avoid data confusion due to ambiguous boundaries.

[0058] The low-altitude operating conditions within a unit can be relatively consistent in a statistical sense. That is, the fluctuation range of key operating factors such as communication coverage level, control frequency, and ground object obstruction within the same unit must be within a preset threshold. Optionally, the difference in the probability of communication interruption at different locations within the same unit shall not exceed 10%, and the difference in signal attenuation caused by ground object obstruction shall not exceed 15dB, so as to ensure that the statistical indicators can truly reflect the operating characteristics of the area.

[0059] The granularity of the division should reflect the common local differences in low-altitude operations. It should not be too coarse, such as dividing the entire urban low-altitude airspace into a single unit, which would fail to reflect the characteristics of local airspace differences. Nor should it be too fine, such as dividing it into 10-meter by 10-meter units, which would result in an excessively large amount of data and no practical significance. Optionally, the granularity of the division can be dynamically adjusted according to the airspace area and the density of operational tasks. In areas with dense tasks, such as the urban core area, a granularity of 1 square kilometer can be used, while in areas with sparse tasks, such as open areas in the suburbs, a granularity of 5 square kilometers can be used.

[0060] Secondly, in actual implementation, the division can be based on a combination of factors such as geographical location and landform distribution, conventional low-altitude flight routes or operational area divisions, and low-altitude airspace control units or management zones. For example, for urban low-altitude areas, division can be based on urban road grids, building density, and terrain features. Areas with flat terrain, similar building density (e.g., building height differences not exceeding 50 meters), and no significant communication obstructions can be classified as one airspace operational unit. For suburban or open areas, division can be based on the coverage of conventional low-altitude flight routes and the boundaries of control units, ensuring that each unit is compatible with the existing management system and facilitates data collection and management. After division, a unique identifier code can be assigned to each airspace operational unit. This code can adopt a three-segment structure of area number - level number - unit number, such as "01-02-003," where "01" represents the urban area number, "02" represents the division level within that area, and "003" represents the unit number under that level, ensuring accurate location of the corresponding unit during subsequent data statistics and retrieval.

[0061] In S102, historical operational data for each airspace operation unit is acquired. Specifically, the collected historical operational data includes the task execution results of each task executed within the unit and related task status change data. The task execution results are categorized into three types: normal completion, interruption, or failure. "Interruption" is defined as a task failing to complete according to the preset process but without causing systemic impact, such as a task resuming execution after a 10-minute pause due to temporary communication interference. "Failure" is defined as a task terminating and potentially triggering anomalies in related tasks, such as a task being unable to continue execution due to sudden airspace control measures, affecting the initiation of subsequent tasks. Related task status change data specifically includes whether other tasks related to this task have experienced anomalies due to the interruption or failure of this task, the time and duration of the anomaly, and the type of anomaly (such as interruption, failure, decreased execution efficiency, etc.).

[0062] During the data collection process, relevant data can be extracted through the database interface of the low-altitude operation management system. The extraction time range can be configured to the most recent three months, which ensures both sufficient data sample size and reflects recent airspace operation characteristics. The extracted data may include the following fields: unique task identifier (ID), execution airspace operation unit code, task start time, task end time, task execution result identifier, list of associated task identifiers, records of associated task status changes, and descriptions of abnormal events.

[0063] For example, a data record is as follows: "Task ID: T20240501001; Spatial Unit Code: 01-02-003; Start Time: 20xx-05-01 08:00:00; End Time: 20xx-05-01 09:30:00; Execution Result: Interrupted; Associated Task Identifiers: T20xx0501002, T20xx0501003; Associated Task Status Change: T20xx0501002 execution efficiency decreased by 30%, lasting for 15 minutes; Abnormal Event Description: Communication signal was briefly interrupted."

[0064] Optionally, after data acquisition, preprocessing operations can be performed to eliminate data noise and format differences. Preprocessing may include: data cleaning: removing data with missing location information, unclear task status, or incorrect time points, such as removing data records without spatial unit codes or with empty execution results; data standardization: unifying the description format of associated task status changes, storing them using a structure of "associated task ID - exception type - exception duration," for example, standardizing "Task B cannot start due to interruption of Task A" to "T20xx0501002 - interrupted - continued until Task A recovers"; and data classification and storage: classifying all preprocessed data according to spatial operating unit identifier codes, establishing a historical operating database corresponding to each unit. The database uses a relational database such as MySQL or a time-series database such as Influx DB for storage to support efficient statistical query operations.

[0065] In S103, historical operational characteristic parameters are statistically calculated. Specifically, based on the historical operational database of each airspace operational unit, the frequency of task interruptions, the probability of associated anomalies after interruption, and the degree of system impact are statistically calculated.

[0066] Regarding the calculation of task interruption frequency, for example, the task interruption frequency is used to reflect the relative frequency of task interruptions or failures within a given space domain, and its calculation formula is as follows:

[0067]

[0068] Where f is the frequency of task interruption, n is the number of tasks that are interrupted or fail within the airspace operating unit within the preset time period, and N is the total number of tasks executed within the airspace operating unit within the preset time period.

[0069] Optionally, the preset time period can be configured to 30 days, which can be adjusted according to the actual amount of operational data and the frequency of airspace changes. During the calculation, the historical operational database of the airspace operation unit is queried to count the total number of tasks N of the unit within 30 days, and the number of tasks with execution results of "interrupted" or "failed," n. These results are then substituted into the formula to obtain the task interruption frequency f. For example, if an airspace operation unit executes 120 tasks within a 30-day period, and 18 of them are interrupted or fail, then the task interruption frequency f = 18 / 120 × 100% = 15%.

[0070] Regarding the calculation of the probability of associated exceptions after interruption, for example, the probability of associated exceptions after interruption is used to reflect whether an interruption in a task within a certain space domain is likely to trigger exceptions in the execution of other tasks. The calculation formula is as follows:

[0071]

[0072] Where p is the probability of associated exceptions occurring after interruption, m is the number of tasks in the airspace operation unit that are interrupted or fail within a preset time period and trigger at least one associated task execution exception, and n is the number of tasks that are interrupted or fail within the airspace operation unit within a preset time period.

[0073] During the calculation process, firstly, n task records with execution results of "interrupted" or "failed" are selected from the historical operation database. Then, the status change data of the associated tasks corresponding to each record are checked one by one. The number m of tasks that cause associated task anomalies (including associated task interruption, failure, and execution efficiency drop exceeding a preset threshold; optionally, the preset threshold for execution efficiency drop is 50% of the normal execution time) is counted and substituted into the formula to calculate p.

[0074] Regarding the calculation of the system impact index, for example, the system impact index is used to reflect the intensity of the impact on the overall operational continuity of the system after an interruption event occurs in the airspace. This index is obtained by weighted summation of the quantitative values ​​of the number of related tasks affected, the key function restriction factor, and the task plan reconfiguration factor.

[0075] Specifically, first, the weight coefficients of each influencing factor are set. Based on the degree of influence of each factor on the continuity of system operation, the weight coefficients are configured as ω1=0.4 (weight of the number of associated tasks affected), ω2=0.3 (weight of the key function restriction factor), and ω3=0.3 (weight of the task plan refactoring factor), and the weight coefficients satisfy ω1+ω2+ω3=1.

[0076] Secondly, the quantitative values ​​of each influencing factor are calculated, including the quantitative value of the number of related tasks affected. Count the total number of associated tasks of the interrupted task. And the number of affected associated tasks k1, the formula for calculating a is:

[0077]

[0078] If the interrupted task has no associated tasks (k=0), then a=0; if all associated tasks are affected (k1=k), then a=1.

[0079] For the quantification value 'b' of the critical function limitation factor, critical functions include communication relay functions, core task scheduling functions, core data transmission functions, etc. If a task interruption causes at least one critical function to become completely unavailable, then b = 1; if it causes a partial limitation of a critical function, such as a decrease in communication bandwidth but no interruption, then b = 0.5; if it does not affect any critical function, then b = 0. For example, if a relay task interruption causes tasks that rely on its communication functions to be unable to transmit data, and the critical function becomes completely unavailable, then b = 1; if a partial data acquisition task interruption does not affect the critical function, then b = 0.

[0080] For the task plan refactoring factor quantification value c, if the interruption event causes the system to refactor more than 50% of the task plans, then c=1; if it requires refactoring 10%-50% of the task plans, then c=0.5; if no refactoring is required or the refactoring ratio is less than 10%, then c=0. The task plan refactoring ratio is determined by the ratio of the number of affected tasks to the total number of tasks in the system. For example, if the system has 20 tasks and the interruption event causes 12 tasks to need to adjust their execution plans, then the refactoring ratio is 60%, and c=1.

[0081] Finally, the formula for calculating the system impact index S is:

[0082]

[0083] The value of this indicator ranges from [0,1]. The larger the value, the stronger the impact of the interruption event on the continuity of system operation within this spatial domain.

[0084] Optionally, in the actual statistical process, the system impact index can be calculated for all interruption or failure events within the airspace operation unit within a preset time period, and then the average value can be taken as the average system impact index of the unit. For example, if an airspace operation unit has 18 interruption or failure events within 30 days, the S value for each event is calculated as 0.3, 0.5, 0.2, 0.4, 0.6, 0.3, 0.4, 0.5, 0.2, 0.3, 0.4, 0.5, 0.6, 0.3, 0.4, 0.2, 0.3, 0.4. After summing these S values ​​and dividing by 18, the average system impact index of the unit is obtained as S≈0.389.

[0085] Through the above calculations, each airspace operation unit obtains a set of historical operation characteristic parameters, including the frequency of task interruption f, the probability of associated anomalies after interruption p, and the system impact index S. This set of parameters is associated with the unique identifier of the airspace operation unit and stored in the airspace characteristic parameter library for subsequent task allocation decisions.

[0086] In some embodiments, for step S2, by comprehensively identifying task relationships, the sensitivity of task failure propagation is quantified from multiple dimensions, which solves the limitation of assessing failure risk based solely on task importance in the prior art, and achieves an accurate characterization of the task's "whether failure is easily amplified" characteristic, which is used to couple risk assessment.

[0087] Specifically, please refer to Figure 3 , Figure 3 This is a schematic diagram illustrating the calculation process for failure propagation sensitivity parameters provided in an embodiment of this disclosure. In S201, the relationships between tasks to be assigned are identified. Identifying these relationships is fundamental to quantifying failure propagation sensitivity and must comprehensively cover execution order dependencies, data or functional dependencies, and resource sharing relationships.

[0088] Specifically, firstly, the criteria for identifying relationships should be clearly defined, including task scheduling plans, historical execution records, and task design documents. Task scheduling plans contain information such as the execution sequence and constraints of tasks, which can be used to identify execution order dependencies; historical execution records contain records of data interactions and function calls between tasks, which can be used to identify data or function dependencies; and task design documents contain information such as task resource requirements and operating environment requirements, which can be used to identify resource sharing relationships.

[0089] Secondly, identify them one by one according to the type of association:

[0090] Execution order dependency: Identify whether the task is a prerequisite for other tasks, or whether there are other tasks that are prerequisites for the task. By parsing the execution sequence constraints in the task scheduling plan, such as "Task B must start after Task A is completed" and "Task C's start time must not be earlier than Task A's completion time," determine the list of prerequisite and successor tasks for each task, and record the dependency strength. Dependency strength is divided into strong dependency and weak dependency. Strong dependency means that the successor task cannot start before the completion of the prerequisite task, while weak dependency means that the successor task can start partially but requires data or functional support from the prerequisite task. For example, if Task A is a strongly dependent prerequisite task of Task B, and Task C is a weakly dependent successor task of Task A, then the execution order dependency of Task A is recorded as "Prerequisite task: None; Successor task: B (strong dependency), C (weak dependency)".

[0091] Data or Functional Dependencies: Identify whether the task provides data support or functional guarantees for other tasks, or whether it depends on the data or functions of other tasks. By analyzing the task's input and output data lists and historical data interaction records, if the output data of task A is the input data of task B, then the two constitute a data dependency (task B depends on task A); if task A provides communication relay, navigation, or positioning functional support for task B, then the two constitute a functional dependency (task B depends on task A). For example, the output data of data acquisition task A is the input data of data analysis task B, thus constituting a data dependency; relay task C provides communication functional support for inspection task D, thus constituting a functional dependency.

[0092] Resource Sharing Relationships: Identify whether this task shares operational resources such as airspace, communication, computing, or aircraft resources with other tasks. By querying airspace allocation plans and resource scheduling records, if Task A and Task B need to enter the same airspace during the same time period, they share airspace resources; if Task A and Task B transmit data through the same communication channel, they share communication resources. For example, if both Task A and Task B need to operate in airspace unit 01-02-003 between 10:00 and 11:00 on May 10, 20xx, they share airspace resources; if both Task C and Task D use communication channel numbered CH001, they share communication resources.

[0093] After the relationships are identified, they are organized into a structured task relationship table. The table includes fields such as unique task identifier ID, associated task ID, relationship type, dependency strength (only for dependency relationships), and shared resource type (only for sharing relationships). For example, the relationship of a task to be assigned is shown in Table 1 below.

[0094] Table 1:

[0095]

[0096] In S202, the failure propagation sensitivity parameter is calculated. Based on the identified correlations, the failure propagation sensitivity parameter T is quantified by weighted summation from three dimensions: "the degree to which the assigned task serves as a prerequisite for other tasks", "the degree of impact of the failure of the assigned task on the communication link and task scheduling", and "the number of aircraft and task units affected by the failure of the assigned task".

[0097] Specifically, firstly, weight coefficients are set for each dimension. For example, based on the degree of influence of each dimension on the propagation of mission failure, the weight coefficients are configured as α=0.4 (weight of the precondition dimension), β=0.3 (weight of the communication and scheduling influence dimension), and γ=0.3 (weight of the aircraft and mission unit influence dimension), with the weight coefficients satisfying α+β+γ=1. It is understood that α, β, and γ can be adjusted according to actual needs, and this disclosure does not impose any restrictions.

[0098] Secondly, calculate the quantified values ​​for each dimension. The quantified value t1 for the precondition dimension: This dimension characterizes the degree to which the task to be assigned serves as a precondition for other tasks. The calculation logic is to count the total number k of the tasks following the task, and the number k1 of the key tasks among the tasks following the task. Key tasks refer to tasks that play a core supporting role in the system's operation, such as relay tasks and key data acquisition tasks. The formula for calculating t1 is:

[0099]

[0100] in, This represents the maximum number of subsequent tasks that a single task in the system can be associated with. Optionally, The configuration is set to 20, which can be adjusted according to the system task scale. Multiplying the denominator by 2 is to balance the weight of the total number of post-tasks k and the number of critical post-tasks k1, ensuring that the value of t1 is in the range of [0,1].

[0101] The communication and scheduling impact dimension quantification value t2: This dimension characterizes the degree of impact of the failure of the assigned task on communication links and task scheduling, and can be quantified using a three-level method of 0-1-0.5. If the assigned task undertakes core functions of communication relay, data transmission, or task scheduling, its failure will lead to the interruption of multiple communication links and trigger the reconstruction of more than 50% of the task plan, then t2=1; if the assigned task undertakes local communication or scheduling auxiliary functions, its failure will only lead to the interruption of 1-2 communication links or the reconstruction of 10%-50% of the task plan, then t2=0.5; if the assigned task does not involve communication or scheduling functions, its failure will not affect communication links and task scheduling, then t2=0. For example, if a relay task undertakes core communication functions, its failure will lead to the interruption of 10 communication links and the reconstruction of 60% of the task plan, then t2=1; if a local data acquisition task fails, it will not affect communication and scheduling, then t2=0; if a regional communication guarantee task fails, it will lead to the interruption of 2 communication links and the reconstruction of 30% of the task plan, then t2=0.5.

[0102] The quantified value t3 of the impact dimension of aircraft and mission units: This dimension is used to characterize the number of aircraft and mission units affected by the failure of the assigned mission. The calculation logic is to count the number of aircraft m involved in the mission and the number of mission units n covered; the formula for calculating t3 is:

[0103]

[0104] Among them, The maximum number of aircraft that can be involved in a single task in the system, optionally, Configured to 10, This represents the maximum number of task units that a single task in the system can cover; optionally, The configuration is set to 30. This formula ensures that t3 takes the value range of [0,1] by normalizing the two dimensions separately and then summing them by weight. The weights of the number of aircraft and the number of mission units are each 0.5, which balances the influence of the two dimensions.

[0105] Finally, the formula for calculating the failure propagation sensitivity parameter T is:

[0106]

[0107] The T-value calculated by this formula can comprehensively reflect the scope and degree of the impact of task failure on system operation. It is distinct from task priority or urgency and is specifically used to describe the system propagation of the consequences of failure.

[0108] In some embodiments, for step S3, candidate spatial domain operating units are screened and their historical operating characteristic parameter sets are obtained.

[0109] Specifically, first, the basic operational requirements of the tasks to be assigned are clarified. These requirements include airspace range requirements, flight altitude requirements, and resource requirements. Airspace range requirements refer to the geographical area within which the task needs to operate. For example, the task needs to operate within the core urban area, corresponding to airspace unit codes prefixed with 01-02. Flight altitude requirements refer to the altitude range within which the task needs to operate. For example, the task needs to operate at a low altitude of 100-300 meters. Resource requirements refer to the communication channels and computing resources that the task needs to occupy. For example, the task needs to use the communication channel numbered CH003.

[0110] Secondly, candidate airspace operation units are screened based on basic operational requirements. From all airspace operation units, units that do not meet the requirements are excluded: units exceeding the mission airspace range are excluded, for example, if the mission requires execution in airspace units with the prefix 01-02, then units with prefixes 01-03 and 02-01 are excluded; units with mismatched flight altitude limits are excluded, for example, if the mission requires operation at 100-300 meters, then units with altitude limits of 300-500 meters are excluded; and units with unavailable resources are excluded, for example, if the mission requires the use of the CH003 communication channel, then units where that channel is unavailable are excluded.

[0111] Finally, the historical operational characteristic parameter set of the candidate airspace operation units is obtained. By querying the airspace characteristic parameter library, the task interruption frequency f, the probability of associated anomalies after interruption p, and the system impact index S corresponding to each candidate airspace operation unit are extracted to form a candidate airspace parameter list. This list, together with the failure propagation sensitivity parameter T of the task to be assigned, serves as the input data for step S4.

[0112] For example, the basic operational requirements of a certain task to be assigned are "airspace range: 01-02 prefix unit; flight altitude: 100-300 meters; communication channel: CH003". After screening, three candidate airspace operation units (01-02-003, 01-02-004, 01-02-005) are obtained, and their historical operational characteristic parameters are shown in Table 2 below.

[0113] Table 2:

[0114]

[0115] In some embodiments, for step S4, the combined risk value of the task to be assigned and the candidate airspace operating unit is calculated. By constructing a coupled risk assessment model, the sensitivity of task failure propagation is correlated with the historical operating characteristics of the airspace, which solves the shortcomings of the prior art that separately assesses airspace risk and task risk and does not establish the causal relationship between the two, and achieves accurate quantification of the task-airspace combined risk.

[0116] According to an embodiment of this disclosure, preferably, the formula for calculating the combined risk value R is:

[0117]

[0118] Wherein, R is the combined risk value, used to quantify the system risk after the task to be assigned is combined with the candidate airspace operation unit; T is the failure propagation sensitivity parameter of the task to be assigned, with a value range of [0,1]; f is the frequency of task interruption of the candidate airspace operation unit, with a value range of [0,100%], which needs to be converted to decimal form during calculation, such as 15% being converted to 0.15; p is the probability of associated anomalies after interruption of the candidate airspace operation unit, with a value range of [0,100%], which needs to be converted to decimal form during calculation, such as 38.89% being converted to 0.3889; S is the system impact index of the candidate airspace operation unit, with a value range of [0,1]; w1, w2, and w3 are preset weight coefficients, used to adjust the impact of each airspace parameter on the combined risk. Optionally, w1=0.2, w2=0.4, and w3=0.4 can be configured to satisfy w1+w2+w3=1. Understandably, the values ​​of w1, w2, and w3 can be adjusted according to actual needs, and are not disclosed or restricted.

[0119] In the specific calculation process, firstly, the failure propagation sensitivity parameter T of the task to be assigned is extracted from the task characteristic parameter library, and the f, p, and S parameters of each candidate airspace operating unit are extracted from the candidate airspace parameter list, and f and p are converted into decimal form; then, each parameter is substituted into the above formula to calculate the combined risk value R of the task to be assigned and each candidate airspace operating unit one by one.

[0120] After the calculation is completed, a list of combined risk values ​​is generated, recording the code and corresponding R value of each candidate airspace operating unit, as exemplified in Table 3 below.

[0121] Table 3:

[0122]

[0123] In some embodiments, for step S5, airspace units with controllable risks are selected based on the combined risk value. Specifically, firstly, a preset risk threshold R0 is set. This threshold is configured according to the risk tolerance of the system operation. Optionally, R0 is configured as 0.3, which can be dynamically adjusted according to the actual operating conditions. The preset risk threshold is set based on the system's tolerance for cascading failures. If the system has high stability requirements, R0 can be configured as 0.25; if the system needs to balance stability and airspace resource utilization, R0 can be configured as 0.35.

[0124] Secondly, the combined risk value R of each candidate airspace operation unit is compared with the preset risk threshold R0. If R≤R0, the candidate airspace operation unit is determined to be a suitable allocation unit; if R>R0, it is determined to be an unsuitable allocation unit and is excluded.

[0125] For example, with a preset risk threshold R0=0.3, the combined risk values ​​of the above three candidate airspace operation units are all less than 0.3, and therefore all are determined to be suitable allocation units. If the R=0.32>0.3 of a candidate airspace unit, it is determined to be an unsuitable allocation unit and excluded from the subsequent selection range.

[0126] In some embodiments, for step S6, the optimal spatial unit is selected from the suitable allocation units as the task execution region. Specifically, all suitable allocation units are prioritized according to their respective combined risk values ​​R from smallest to largest. The smaller the combined risk value, the higher the priority. The logic of priority ranking is: the smaller the combined risk value, the lower the probability of the task failing and triggering cascading failures when executed in that spatial region, and the more stable the execution environment.

[0127] Based on the ranking results, the highest priority suitable allocation unit is selected as the final execution airspace unit for the task to be assigned. If there are multiple suitable allocation units with the same priority (i.e., the combined risk value is equal), the final decision is made by combining auxiliary factors such as airspace resource utilization and task execution path optimization. For example, an airspace unit with lower resource utilization may be selected to balance the overall utilization efficiency of airspace resources.

[0128] In some embodiments, for step S7, by constructing a bidirectional update mechanism for the spatial memory-task propagation model, the shortcomings of the prior art, such as fixed parameters and inability to adapt to dynamic changes in the spatial environment and task structure, are solved, ensuring that the task allocation strategy can be continuously optimized.

[0129] Specifically, the first step is to monitor the task execution results. During the execution of the assigned task, the system continuously collects task execution status data through the real-time monitoring module of the low-altitude operation management system, including task location information, communication status, resource usage, and the running status of related tasks. The data collection frequency can be configured to once per second to ensure timely detection of any abnormalities during task execution.

[0130] After the task is completed, the system summarizes the monitoring data and determines the final execution result of the task. The execution result includes three types: normal completion, interruption, and failure, which are consistent with the task execution result defined in step S102. At the same time, the system analyzes the status changes of related tasks to determine whether the task execution result has caused an anomaly in the related tasks. The criteria for determining an anomaly in the related tasks are consistent with those in step S103, that is, the related tasks are interrupted, fail, or the execution efficiency decreases beyond a preset threshold.

[0131] Next, the relevant parameters are updated. When the task execution result is task interruption or failure, and triggers an anomaly in the associated task, the system initiates a parameter update process to update the historical operating characteristic parameter set of the final execution airspace operating unit and the failure propagation sensitivity parameter of the task to be assigned.

[0132] Specifically, the set of historical airspace operation characteristic parameters is updated. For example, based on the task execution results, the frequency f of task interruption, the probability p of associated anomalies after interruption, and the system impact index S of the final airspace operation unit are selectively updated.

[0133] The update of the task interruption frequency *f*: Regardless of whether an associated task exception is triggered, the *f* value must be updated whenever the task execution result is interruption or failure. The update formula is:

[0134]

[0135] in, The updated task interruption frequency, This represents the number of interrupted / failed tasks in this airspace unit within a preset time period before the update. This represents the total number of tasks in the airspace unit within the preset time period before the update.

[0136] Update of the probability p of associated task exceptions after interruption: The p value is updated only when task interruption or failure triggers an associated task exception. The update formula is:

[0137]

[0138] in, This represents the probability of an anomaly occurring after the updated interruption. This represents the number of interrupted / failed tasks that caused associated anomalies within the preset time period prior to the update. This represents the number of interrupted / failed tasks in this airspace unit within the preset time period before the update.

[0139] System impact index S update: The system impact index corresponding to the interruption is calculated only when a task interruption or failure causes an anomaly in a related task. And update the average indicator S. The update formula is:

[0140]

[0141] in, This is the average index of the updated system's impact. The average index before the update. For calculations within the preset time period before the update The number of interrupt / failure events, This is an indicator of the system impact of the interruption event that caused the related task to malfunction.

[0142] Regarding the update of the sensitivity parameter for task failure propagation, for example, when the task execution result is interruption or failure and triggers anomalies in related tasks, the category to which the task belongs is first determined according to the task classification criteria. For example, the task classification criteria are: divided into relay type, data collection type, inspection and monitoring type, support type, and accompanying type according to the core function of the task. The core functions, related relationship types, and resource requirement characteristics of tasks in the same category are consistent. If the actual impact quantification value T_i of the failure of this type of task exceeds the expected value of the current T value, then the T value of the task in this type is updated.

[0143] The actual impact quantification value T_i of this mission failure is calculated using the same method as in step S202, that is, based on the actual number of related missions affected by this failure, the extent of key function limitations, and the number of affected aircraft / mission units, according to the formula T_i=αt. 1_i +βt 2_i +γt 3_iCalculated;

[0144] A correction threshold ΔT is set, optionally ΔT=0.1. If T_i>T_current, where T_current is the current T value of this type of task, and T_i-T_current≥ΔT, then the T value of this type of task is updated to T_new=(T_current+T_i) / 2; if the difference is less than ΔT, no update is performed. It is understood that the value of ΔT can be based on the system risk tolerance and set according to actual needs; this embodiment does not impose any restrictions.

[0145] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a low-altitude mission allocation system provided in an embodiment of this application. Figure 4 As shown, system 400 includes:

[0146] Data storage module 401 is used to acquire and store a set of historical operating characteristic parameters of multiple airspace operating units, wherein the set of historical operating characteristic parameters includes at least the frequency of task interruption, the probability of associated anomalies after interruption, and the system impact index.

[0147] Sensitivity calculation module 402 is used to obtain the association information of the task to be assigned, and calculate the failure propagation sensitivity parameter of the task based on the association information;

[0148] The unit filtering module 403 is used to filter candidate airspace operation units from the multiple airspace operation units according to the basic operation requirements of the task to be assigned, and to obtain the set of historical operation characteristic parameters corresponding to each candidate airspace operation unit from the data storage module.

[0149] The combined risk calculation module 404 is used to calculate the combined risk value of the task to be assigned and each candidate airspace operating unit based on the failure propagation sensitivity parameter of the task to be assigned and the set of historical operating characteristic parameters of each candidate airspace operating unit.

[0150] Suitability determination module 405 is used to determine candidate airspace operation units with combined risk values ​​lower than a preset risk threshold as suitable allocation units;

[0151] The task allocation decision module 406 is used to determine the final execution space operation unit of the task to be allocated from the suitable allocation units based on the combined risk value of each of the suitable allocation units.

[0152] Those skilled in the art will clearly understand that the technical solutions of the embodiments of this application can be implemented by means of software and / or hardware. In this specification, "unit" and "module" refer to software and / or hardware that can independently complete or cooperate with other components to complete a specific function, wherein the hardware may be, for example, a field-programmable gate array (FPGA), an integrated circuit (IC), etc.

[0153] Each processing unit and / or module in the embodiments of this application can be implemented by an analog circuit that implements the functions described in the embodiments of this application, or by software that executes the functions described in the embodiments of this application.

[0154] Please see Figure 5 It shows a schematic diagram of the structure of an electronic device according to an embodiment of this application, which can be used to implement... Figure 1 The method in the illustrated embodiment. (As shown) Figure 5 As shown, the electronic device 500 may include:

[0155] The system includes at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502. The communication bus 502 is used to enable connection and communication between the components. The user interface 503 may include buttons, and optionally include a standard wired or wireless interface. The network interface 504 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0156] The processor 501 may include one or more processing cores and connect to various parts within the device 500 via various interfaces and lines. It implements the various functions and data processing of the device 500 by running or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and by accessing data in the memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of DSP, FPGA, or PLA. The processor 501 may also integrate one or more combinations of CPU, GPU, and modem. The CPU is mainly used to handle the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display on the screen; and the modem is used for wireless communication. It is understood that the modem may not be integrated into the processor 501, but may be implemented through a separate chip.

[0157] Memory 505 may include random access memory (RAM) or read-only memory (ROM). Optionally, memory 505 includes a non-transitory computer-readable medium for storing instructions, programs, code, code sets, or instruction sets. Memory 505 may be divided into a program storage area and a data storage area, wherein the program storage area may be used to store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, audio playback functionality, image playback functionality, etc.), and instructions for implementing the aforementioned method embodiments; the data storage area may be used to store data involved in the relevant method embodiments. Memory 505 may also be at least one storage device located remotely from processor 501. Figure 5 As shown, the memory 505, which serves as a computer storage medium, may contain an operating system, a network communication module, a user interface module, and program instructions.

[0158] In particular, the methods and / or embodiments in this application can be implemented as computer software programs. For example, the embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. When the computer program is executed by processor 501, it performs the functions defined in the methods of this application.

[0159] Another embodiment of this application provides a computer-readable storage medium having computer program instructions stored thereon, which can be executed by a processor to implement the methods and / or technical solutions of any one or more embodiments of this application described above.

[0160] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0161] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

Claims

1. A method for low-altitude mission allocation, characterized in that, include: S1, acquire and store a set of historical operational characteristic parameters for multiple airspace operation units, wherein the set of historical operational characteristic parameters includes at least the frequency of task interruption, the probability of associated anomalies after interruption, and the system impact index; wherein the system impact index is obtained by weighted summation of the quantified values ​​of the following impact factors: the number of associated tasks affected, the key function restriction factor, and the task plan reconfiguration factor. S2, obtain the correlation information of the tasks to be assigned, and calculate the failure propagation sensitivity parameter of the task based on the correlation information; specifically, identify the correlation of the tasks to be assigned, the correlation including at least one of execution order dependency, data or function dependency, and resource sharing relationship; based on the identified correlation, obtain the failure propagation sensitivity parameter by weighted summation of three dimensions, wherein the three dimensions are: the degree to which the task to be assigned is a prerequisite for other tasks, the degree of impact of the failure of the task to be assigned on the communication link and task scheduling, and the number of aircraft and task units affected by the failure of the task to be assigned; S3, Based on the basic operational requirements of the task to be assigned, candidate airspace operation units are selected from the multiple airspace operation units, and the set of historical operational characteristic parameters corresponding to each candidate airspace operation unit is obtained. S4. Based on the failure propagation sensitivity parameter of the task to be assigned and the set of historical operating characteristic parameters of each candidate airspace operating unit, calculate the combined risk value of the task to be assigned and each candidate airspace operating unit; wherein, the formula for calculating the combined risk value is: R=T×(w1×f+w2×p+w3×S), where R is the combined risk value, T is the failure propagation sensitivity parameter of the task to be assigned, f, p, and S are the task interruption frequency, the probability of associated anomalies after interruption, and the system impact index of the candidate airspace operating unit, respectively, and w1, w2, and w3 are preset weight coefficients; S5, determine the candidate airspace operation units whose combined risk value is lower than the preset risk threshold as suitable allocation units; S6. Based on the combined risk values ​​of each of the suitable allocation units, determine the final execution airspace operation unit of the task to be allocated from the suitable allocation units.

2. The low-altitude mission allocation method according to claim 1, characterized in that, Step S1 includes: S101 divides the low-altitude airspace into multiple airspace operation units; S102, acquire historical operation data for each airspace operation unit, the historical operation data including the task execution results of each task executed in the unit and related task status change data; S103. Based on the historical operation data, for each airspace operation unit, calculate the frequency of task interruption, the probability of associated anomalies after interruption, and the degree of system impact.

3. The low-altitude mission allocation method according to claim 1, characterized in that, Step S6 includes: The suitable allocation units are prioritized according to their respective combined risk values ​​from smallest to largest. Based on the sorting results, the highest priority suitable allocation unit is selected as the final execution space operation unit for the task to be allocated.

4. The low-altitude mission allocation method according to claim 1, characterized in that, Following step S6, the following is also included: Monitor the execution results of the tasks to be assigned within the final execution airspace operating unit; When the execution result is task interruption or failure, and triggers associated task anomalies, the probability of occurrence of associated anomalies after interruption and / or the degree of system impact in the historical operation characteristic parameter set of the final execution space operation unit are updated based on the execution result, and / or the failure propagation sensitivity parameter of the task to be assigned is updated.

5. A low-altitude mission allocation system, characterized in that, include: The data storage module is used to acquire and store a set of historical operational characteristic parameters for multiple airspace operation units. The set of historical operational characteristic parameters includes at least the frequency of task interruption, the probability of associated anomalies after interruption, and the system impact index. The system impact index is obtained by weighted summation of the quantified values ​​of the following impact factors: the number of associated tasks affected, the key function restriction factor, and the task plan reconfiguration factor. The sensitivity calculation module is used to acquire the correlation information of the tasks to be assigned, and calculate the failure propagation sensitivity parameter of the task based on the correlation information. Specifically, it identifies the correlation of the tasks to be assigned, which includes at least one of the following: execution order dependency, data or function dependency, and resource sharing relationship. Based on the identified correlation, the failure propagation sensitivity parameter is obtained by weighted summation of three dimensions, namely: the degree to which the task to be assigned serves as a prerequisite for other tasks, the degree of impact of the failure of the task to be assigned on the communication link and task scheduling, and the number of aircraft and task units affected by the failure of the task to be assigned. The unit filtering module is used to filter candidate airspace operation units from the multiple airspace operation units according to the basic operation requirements of the task to be assigned, and to obtain the set of historical operation characteristic parameters corresponding to each candidate airspace operation unit from the data storage module. The combined risk calculation module is used to calculate the combined risk value of the task to be assigned and each candidate airspace operating unit based on the failure propagation sensitivity parameter of the task to be assigned and the set of historical operating characteristic parameters of each candidate airspace operating unit. The formula for calculating the combined risk value is: R=T×(w1×f+w2×p+w3×S), where R is the combined risk value, T is the failure propagation sensitivity parameter of the task to be assigned, f, p, and S are the task interruption frequency, the probability of associated anomalies after interruption, and the system impact index of the candidate airspace operating unit, respectively, and w1, w2, and w3 are preset weight coefficients. The suitability determination module is used to determine the candidate airspace operation units whose combined risk value is lower than the preset risk threshold as suitable allocation units; The task allocation decision module is used to determine the final execution space operation unit of the task to be allocated from the suitable allocation units based on the combined risk value of each of the suitable allocation units.

6. An electronic device, characterized in that, include: At least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

7. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, The computer program instructions can be executed by a processor to implement the method as described in any one of claims 1-4.

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