CN113763755A

CN113763755A - Three-dimensional warning fence manufacturing method, air route planning method and flight adjusting method

Info

Publication number: CN113763755A
Application number: CN202010501227.XA
Authority: CN
Inventors: 陈盛伟; 王文靖; 周剑; 苏郁
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Chengdu ICT Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Chengdu ICT Co Ltd
Priority date: 2020-06-04
Filing date: 2020-06-04
Publication date: 2021-12-07
Anticipated expiration: 2040-06-04
Also published as: CN113763755B; WO2021243893A1

Abstract

The embodiment of the invention provides a three-dimensional warning fence manufacturing method, an air route planning method and a flight adjusting method. The manufacturing method of the three-dimensional warning fence comprises the following steps: acquiring position information and base station parameter information of at least one base station in a manufacturing area; determining signal coverage information of at least one horizontal layer with a preset height within a preset height range according to the position information and the base station parameter information of each base station; according to a preset signal quality grade, determining a grade signal warning fence corresponding to each horizontal layer in the signal coverage information of each horizontal layer; and determining to manufacture the three-dimensional warning fence of the area according to the signal warning fence in the signal coverage information of each horizontal layer. According to the embodiment of the invention, by manufacturing the three-dimensional warning fence, the accurate and timely signal blind area in the flight area can be obtained, the unmanned aerial vehicle is effectively prevented from entering the signal blind area, and the flight safety of the unmanned aerial vehicle is guaranteed.

Description

Three-dimensional warning fence manufacturing method, air route planning method and flight adjusting method

Technical Field

The invention belongs to unmanned aerial vehicle/intelligent traffic, and particularly relates to a three-dimensional warning fence manufacturing method, an air route planning method and a flight adjusting method.

Background

Emerging industries relating to drones are developing explosively. When the unmanned aerial vehicle flies, the unmanned aerial vehicle receives communication information such as control, management and load through a wireless communication link. However, it is difficult for a wireless communication link to achieve full coverage over the air. Taking a cellular network as an example, when the cellular network is constructed, coverage to the ground is mainly considered, coverage to the air is not planned, and even if the 5G air network which is being constructed is completely put into use, a large number of signal blind areas exist in the air.

At present, because the signal blind area that exists in the air, after unmanned aerial vehicle got into the signal blind area, the event that unmanned aerial vehicle lost the antithetical couplet can take place, leads to unmanned aerial vehicle to take place out of control.

Therefore, when unmanned aerial vehicle flies, the continuous coverage area of the communication signal can be obtained, the unmanned aerial vehicle is prevented from entering a signal blind area, and the unmanned aerial vehicle is very important to the flight safety of the unmanned aerial vehicle.

Disclosure of Invention

The embodiment of the invention provides a three-dimensional warning fence manufacturing method, a route planning method and a flight adjusting method, which can acquire accurate and timely signal blind areas in a flight area, effectively prevent an unmanned aerial vehicle from entering the signal blind areas and guarantee the flight safety of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present invention provides a method for manufacturing a three-dimensional warning fence, where the method is applied to a signal warning fence manufacturing platform, and the method includes: acquiring position information and base station parameter information of at least one base station in a manufacturing area;

determining signal coverage information of at least one horizontal layer with a preset height within a preset height range according to the position information and the base station parameter information of each base station;

according to a preset signal quality grade, determining a grade signal warning fence corresponding to each horizontal layer in the signal coverage information of each horizontal layer;

and determining to manufacture the three-dimensional warning fence of the area according to the signal warning fence in the signal coverage information of each horizontal layer.

In some realizations of the first aspect, determining signal coverage information of a horizontal layer of at least one preset height according to the location information and the base station parameter information of each base station further includes:

acquiring actually measured signal information in a manufacturing area;

and optimizing the signal coverage information of each horizontal layer according to the actually measured signal information and a preset optimization algorithm to obtain the signal coverage information of at least one horizontal layer at a preset height.

In a second aspect, an embodiment of the present invention provides an airway planning method, where the method is applied to an airway planning platform, and the method includes: acquiring a communication link transmission requirement of the unmanned aerial vehicle, a flight target area and the maximum tolerance area of the unmanned aerial vehicle to a signal-free area;

according to the flight target area, acquiring a three-dimensional warning fence of the flight target area from a signal warning fence manufacturing platform; the three-dimensional warning fence is generated according to the first aspect or the three-dimensional warning fence manufacturing method in any one of the realizable manners of the first aspect;

acquiring a flight signal warning fence in a flight target area according to the transmission requirement of a communication link, the maximum tolerance area and the three-dimensional warning fence;

and sending the flight signal warning fence of the unmanned aerial vehicle in the flight target area to the unmanned aerial vehicle for navigating according to the flight signal warning fence.

In some implementations of the second aspect, the method further comprises: acquiring a no-fly zone of a flight target area;

and sending the unmanned aerial vehicle to the unmanned aerial vehicle in the no-fly zone of the flight target area.

In some implementations of the second aspect, the three-dimensional alert fence of the flight target area includes at least one signal quality level signal alert fence.

In some implementations of the second aspect, acquiring the flight signal warning fence in the flight target area according to the communication link transmission requirement, the maximum tolerable area, and the three-dimensional warning fence includes: determining a signal quality level corresponding to the transmission requirement of the communication link according to the transmission requirement of the communication link; and the number of the first and second groups,

determining k areas of signal warning fences corresponding to the signal quality levels required by the transmission of the communication links in each horizontal layer according to the signal quality levels required by the transmission of the communication links, wherein k is an integer greater than or equal to 0;

and acquiring the flight signal warning fence from the three-dimensional warning fence according to the area and the maximum tolerance area of the signal warning fence corresponding to the signal quality grade required by the communication link transmission.

In a third aspect, an embodiment of the present invention provides a flight adjustment method, where the method is applied to an unmanned aerial vehicle, and the method includes: receiving a flight fence sent by an airway planning platform, wherein the flight fence comprises a flight signal warning fence and a no-fly zone, and the flight signal warning fence is obtained according to the second aspect or the airway planning method in any realizable mode of the second aspect;

determining a flyable region of a flying target region according to the flying fence;

and adjusting the flight route according to the flyable area.

In some implementations of the third aspect, adjusting the flight path according to the flyable region includes: acquiring the distance between the unmanned aerial vehicle and the flight signal warning fence;

and when the flying route of the unmanned aerial vehicle needs to be adjusted according to the distance and the preset distance threshold value, adjusting the flying route according to a preset avoidance algorithm.

In some implementations of the third aspect, the preset distance threshold is determined based on a flight speed of the drone and a delay time of the communication link.

In a fourth aspect, the present invention provides a device for manufacturing a three-dimensional warning fence, comprising: the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring the position information and the base station parameter information of at least one base station in a manufacturing area;

the signal determining module is used for determining signal coverage information of at least one horizontal layer with a preset height within a preset height range according to the position information and the base station parameter information of each base station;

the fence determining module is used for determining a grade signal warning fence corresponding to each horizontal layer in the signal coverage information of each horizontal layer according to the preset signal quality grade;

and the fence determining module is also used for determining a three-dimensional warning fence of the manufacturing area according to the signal warning fence in the signal coverage information of each horizontal layer.

In a fifth aspect, the present invention provides an apparatus for planning an airway, comprising:

the acquisition module is used for acquiring the transmission requirement of a communication link of the unmanned aerial vehicle, a flight target area and the maximum tolerance area of the unmanned aerial vehicle to a signal-free area;

the acquisition module is also used for acquiring a three-dimensional warning fence of the flight target area from the signal warning fence manufacturing platform according to the flight target area; the three-dimensional warning fence is generated according to the first aspect or the three-dimensional warning fence manufacturing method in any one of the realizable manners of the first aspect;

the fence customizing module is used for acquiring a flight signal warning fence in a flight target area according to the communication link transmission requirement, the maximum tolerance area and the three-dimensional warning fence;

and the sending module is used for sending the flight signal warning fence of the unmanned aerial vehicle in the flight target area to the unmanned aerial vehicle, so that the unmanned aerial vehicle navigates according to the flight signal warning fence.

In a sixth aspect, the present invention provides a flight adjustment apparatus, the apparatus comprising:

the receiving module is used for receiving a flight fence sent by the route planning platform, and the flight fence comprises a flight signal warning fence and a no-fly zone, wherein the flight signal warning fence is obtained according to the route planning method in the second aspect or any one of the realizable modes in the second aspect;

the flight area determining module is used for determining a flyable area of the flight target area according to the flight fence;

and the flight adjusting module is used for adjusting the flight route according to the flyable area.

In a seventh aspect, the present invention provides a flight adjustment apparatus comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the method for manufacturing a three-dimensional warning fence according to the first aspect or any of the realizable manners of the first aspect, the method for planning a route according to the second aspect or any of the realizable manners of the second aspect, and the method for adjusting a flight according to the third aspect or any of the realizable manners of the third aspect.

In an eighth aspect, the present invention provides a computer-readable storage medium, on which computer program instructions are stored, and the computer program instructions, when executed by a processor, implement the method for manufacturing a three-dimensional warning fence according to the first aspect or any one of the realizable manners of the first aspect, the method for planning an airway according to the second aspect or any one of the realizable manners of the second aspect, and the method for adjusting a flight according to the third aspect or any one of the realizable manners of the third aspect.

According to the three-dimensional warning fence manufacturing method provided by the embodiment of the invention, in the preset height range of the manufacturing area, the signal coverage information of the horizontal layer with the preset height is determined according to the position information and the parameter information of the base station, so that the signal coverage information meeting the error requirement of the signal warning fence can be obtained; then, in every in the signal coverage information of horizontal layer, according to preset signal quality level, grade signal warning rail that every horizontal layer corresponds of confirming, be used for the aerial three-dimensional warning rail of unmanned aerial vehicle based on three-dimensional information, when unmanned aerial vehicle flies, avoid unmanned aerial vehicle to get into the signal blind area, guarantee flight safety, simultaneously, according to the three-dimensional warning rail that preset signal quality level obtained, also make unmanned aerial vehicle's flight airspace obtain maximum utilization.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart illustrating a method for manufacturing a three-dimensional warning fence according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the location distribution of 5G base stations around a lake according to an embodiment of the present invention

FIG. 3 is a schematic diagram of horizontal layer division according to an embodiment of the present invention;

FIG. 4 is a schematic view of a signaling fence according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of a method for planning an airway according to an embodiment of the present invention;

FIG. 6 is a schematic view of another signaling fence according to an embodiment of the present invention;

FIG. 7 is a schematic view of a signaling fence according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an effect of a warning fence for flight signals of different heights according to an embodiment of the present invention;

FIG. 9 is a schematic flow chart of a flight adjustment method according to an embodiment of the present invention;

fig. 10 is a schematic flow chart of a three-dimensional warning fence and an application method thereof according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a three-dimensional warning fence manufacturing apparatus according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of an airway planning device according to an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a flight adjustment apparatus according to an embodiment of the present invention;

fig. 14 is a schematic hardware structure diagram of a flight adjustment device according to an embodiment of the present invention.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.

The emerging industry for drones is developing explosively, and drones receive control, management, and load information via wireless communication links while in flight. That is to say, when the unmanned aerial vehicle flies, the unmanned aerial vehicle must rely on the wireless network signal coverage in the air, and once the space that unmanned aerial vehicle passed through does not have wireless signal or the signal is very poor, can cause its flight control link disconnection, the disconnection of flight control link can cause the catastrophic accident that unmanned aerial vehicle lost the connection or even falls.

In order to ensure the flight safety of the unmanned aerial vehicle, the existing solution is to define a specific area in a corresponding electronic geographic range by a software and hardware system matched with a flight control system of the unmanned aerial vehicle, so as to block the unmanned aerial vehicle about to enter an air control area. That is to say the electronic fence that is usually set up for unmanned aerial vehicles when flying. After the electronic fence is implanted into the unmanned aerial vehicle flight control System, the unmanned aerial vehicle can identify the geographic position through a Global Positioning System (GPS), and can automatically land or return to the ground in an area provided with the electronic fence. Under the general condition, judge according to the current flight position in the current flight data of unmanned aerial vehicle whether unmanned aerial vehicle gets into the fence, when unmanned aerial vehicle got into the fence, send tip information to the equipment of control unmanned aerial vehicle, avoid unmanned aerial vehicle out of control.

However, it is difficult for a wireless communication link to achieve full coverage over the air. Taking cellular networks as an example, second, third and fourth Generation cellular networks are constructed mainly considering coverage on the ground, and no planning is performed on coverage in the air, and even if a fifth Generation mobile communication technology (5th-Generation, 5G) in construction is completely put into the air network, a large number of signal blind areas exist in the air.

Therefore, because the signal blind area that exists in the air, after unmanned aerial vehicle got into the signal blind area, can lead to unmanned aerial vehicle to take place out of control to and take place the event that unmanned aerial vehicle loses the antithetical couplet. Therefore, when unmanned aerial vehicle flies, the continuous coverage area of the communication signal can be obtained, the unmanned aerial vehicle is prevented from entering the signal blind area in time, and the unmanned aerial vehicle is very important to the flight safety of the unmanned aerial vehicle.

In addition, it also needs to be noted that, when unmanned aerial vehicle flies, whether it is very important to know accurately whether there is a signal blind area on the flight air line to and can know signal coverage state and coverage quality also has very high requirement when flying.

In view of one or more of the above problems, embodiments of the present invention provide a method for manufacturing a three-dimensional warning fence, which can guide an unmanned aerial vehicle to avoid an air signal coverage blind area and an area with weak signal coverage that does not meet the flight requirement of the unmanned aerial vehicle during flight, and indicate an area where a signal is available for the unmanned aerial vehicle to fly in the air.

The following describes a method for manufacturing a three-dimensional warning fence according to an embodiment of the present invention with reference to the accompanying drawings.

Fig. 1 is a flow chart illustrating a method for manufacturing a three-dimensional warning fence according to an embodiment of the present invention, where the method for manufacturing a three-dimensional warning fence can be applied to a signal warning fence manufacturing platform. As shown in fig. 1, the method for manufacturing a three-dimensional warning fence may include the following steps:

s110, acquiring position information and base station parameter information of at least one base station in the manufacturing area.

Coverage quality data of wireless signals can be generally obtained through wireless simulation tools and wireless road test instrument tests. In some embodiments, information such as position information and base station parameter information of base stations in the production area of the three-dimensional warning fence can be input on the wireless simulation tool. Illustratively, the base station parameter information as shown in table 1.

TABLE 1

Base station	Frequency band	Bandwidth of	Transmit-receive
				NR base station 1	n41	100M	64T64R
NR base station 2	n41	100M	64T64R
				……	……	……	……
NR base station 12	n41	100M	64T64R

The wireless simulation tool acquires the signal distribution condition in the manufacturing area of the three-dimensional warning fence based on the input information such as the position information of the base station, the parameter information of the base station and the like. For example, a schematic distribution diagram of location information of 5G base stations around a lake is shown in fig. 2.

And S120, determining signal coverage information of at least one horizontal layer with a preset height according to the position information and the base station parameter information of each base station within the preset height range.

In some embodiments, in the preset height range, before obtaining a three-dimensional coverage signal in a manufacturing area by using information such as position information of a base station and parameter information of the base station and combining a map library, a parameter library, an antenna library, a propagation model library and the like which are established in a wireless simulation tool, in order to obtain a more accurate three-dimensional coverage signal in the manufacturing area, frequency point inspection and propagation model correction may be performed first, and then calculation is performed by using various path loss calculation methods such as high-altitude, single-peak and the like, so as to obtain a more accurate three-dimensional coverage signal.

As a specific example, based on the wireless simulation tool, the position and surrounding level of the base station in the manufacturing area can be obtained as 5KM, and the signal coverage in the preset height range. Alternatively, in some embodiments, the predetermined height range may be set to a height of 0-1000 meters above the ground. The obtained Signal coverage condition may include at least one of a Reference Signal Receiving Power (RSRP), a Signal to Interference plus Noise Ratio (SINR), and the like.

Specifically, as a specific example, a range of heights from the ground to a preset height, and a horizontal layer of the preset height, as shown in fig. 3, are divided into 5 planes at an interval h of 50m, for example, from the ground to 200m above. The plane corresponding to h-0 may be the ground. Alternatively, h may be determined according to the accuracy of the map and the actual usage requirements. The wireless simulation tool can calculate the signal coverage information of the horizontal layer of each preset height according to the input position information and the base station parameter information of each base station.

In some embodiments, in order to make the obtained wireless signal more accurate, a mode of combining the wireless simulation tool and the actual test of the wireless test instrument may be adopted to obtain the signal coverage information of the horizontal layer of each preset height.

As a specific example, the signal coverage information of the horizontal layer of each preset height may include metrics such as RSRP and SINR.

After the signal coverage information of the horizontal layer of each preset height is obtained, in some embodiments, values such as RSRP, SINR and the like of the horizontal plane at which any specified height is located can be obtained, and then a meshed air signal coverage quality network is constructed. It will be appreciated that the signal coverage quality information obtained for any given height may be determined by the accuracy of the map.

In some embodiments, determining signal coverage information of a horizontal layer of at least one preset height according to the location information and the base station parameter information of each base station may further include: acquiring actually measured signal information in a manufacturing area; and optimizing the signal coverage information of each horizontal layer according to the actually measured signal information and a preset optimization algorithm to obtain the signal coverage information of at least one horizontal layer at a preset height.

According to the measured signal information, a signal simulation model in the wireless simulation tool can be continuously optimized by using a preset optimization algorithm so as to obtain more accurate signal coverage information. The pre-set optimization algorithm may include, but is not limited to, at least any one of: filter algorithm, neural network, deep learning method, mathematical statistics method, heuristic method and other arbitrary algorithms.

After the signal coverage information of each preset height is obtained, S130 is continuously performed.

S130, according to the preset signal quality grade, determining a grade signal warning fence corresponding to each horizontal layer in the signal coverage information of each horizontal layer.

In some embodiments, in areas with poor signal quality, the control signaling of the drone may be affected, and thus, the areas with poor signal quality may serve as the preferred areas for the signal alert fence. It can be understood that, an area with general signal quality can also be used as a signal warning fence according to needs, for example, when an unmanned aerial vehicle needs to perform transmission of large data services such as high-speed video, an area with general signal quality and poor signal quality can be used as a signal warning fence.

As a specific example, the quality level of the signal may be preset in combination with two parameters, namely RSRP and SINR, and the signal quality of the region in each two-dimensional plane may be divided. Taking two parameters of RSRP and SINR as an example, the preset signal quality levels can be shown in table 2.

TABLE 2

As a specific example, as shown in fig. 4, fig. 4 is a schematic diagram of a signal quality poor region on an n-4 plane as a signal warning fence. In the plane where n is 4, the signal quality of the

regions

1, 2, and 3 is poor.

It should be understood that there are many ways to classify the signal quality levels, the signal quality levels in table 2 are only used as examples, and other judgment methods constructed by taking the signal quality levels as design ideas belong to the protection scope of the present invention.

S140, determining to manufacture the three-dimensional warning fence in the area according to the signal warning fence in the signal coverage information of each horizontal layer.

It can be understood that, after the signal warning fences in the signal coverage information of each horizontal layer are integrated, three-dimensional warning fences corresponding to different signal quality levels can be obtained, and optionally, the three-dimensional warning fences corresponding to different signal quality levels are stored in the database.

According to the method for manufacturing the three-dimensional warning fence, the signal warning fence areas with different heights are marked in the map, and finally the three-dimensional signal warning fence can be formed. In the embodiment of the invention, the three-dimensional map can be used for drawing the three-dimensional map of the signal warning fence by combining the longitude and latitude and the height set, and meanwhile, whether the specified position is in the fence can be judged according to the longitude and latitude height set. For example, the three-dimensional map may be a common map service platform such as an electronic map.

According to the three-dimensional warning fence manufacturing method provided by the embodiment of the invention, based on longitude, latitude and height three-dimensional information, in the preset height range of the manufacturing area, the signal coverage information of the horizontal layer with the preset height is determined according to the position information of the base station and the parameter information of the base station, for example, by inputting information such as survey parameters and cell configuration, and the signal coverage information meeting the error requirement of the signal warning fence can be obtained. For example, a database of wireless signal information obtained by calculating indexes such as RSRP or SINR of each horizontal layer based on a simulation tool is first obtained, and then, in the signal coverage information of each horizontal layer, a signal warning fence of a level corresponding to each horizontal layer is determined according to a preset signal quality level, so that a three-dimensional signal warning fence can be finally formed. According to the three-dimensional warning fence for the unmanned aerial vehicle, when the unmanned aerial vehicle flies, the unmanned aerial vehicle can be effectively prevented from entering a signal blind area, the flying safety of the unmanned aerial vehicle is guaranteed, and meanwhile, the flying airspace of the unmanned aerial vehicle is utilized to the maximum extent according to the three-dimensional warning fence obtained according to the preset signal quality level.

Based on the three-dimensional warning fence manufacturing method provided by the embodiment of the invention, the embodiment of the invention also provides a route planning method. Fig. 5 is a schematic flow chart of a method for planning an airway. The method can be applied to an air route planning platform, and the air route planning method can comprise the following steps:

s510, acquiring the transmission requirement of a communication link of the unmanned aerial vehicle, a flight target area and the maximum tolerance area of the unmanned aerial vehicle to a signal-free area.

In some embodiments, different flight missions may correspond to different required communication link transmission requirements while the drone is performing the flight mission. Alternatively, the communication link transmission requirement may be a communication link transmission bandwidth requirement.

S520, acquiring a three-dimensional warning fence of the flight target area from the signal warning fence manufacturing platform according to the flight target area; the three-dimensional warning fence can be generated according to the manufacturing method of the three-dimensional warning fence provided by the embodiment of the invention.

In some embodiments, the routeing platform obtains a complete three-dimensional alert fence, i.e., an original three-dimensional alert fence, for the flight target area from the wireless simulation platform database. Optionally, the three-dimensional alert fence of the flight target area may include at least one signal quality level signal alert fence. In conjunction with the table 2, the signal quality classes may be classified into class 1, class 2, and class 3.

S530, acquiring a flight signal warning fence in a flight target area according to the communication link transmission requirement, the maximum tolerance area and the three-dimensional warning fence.

Specifically, the route planning platform is used for calculating key parameters of the flight mission of the unmanned aerial vehicle: the communication link transmission requirement, the maximum tolerance area Smax and the flight target area are input into an original signal warning fence as conditions, and a flight signal warning fence Fc (Fc1, Fc2, Fc3, … … Fcx) meeting the flight requirement is customized, wherein Fc1, the.

It will be appreciated that in some embodiments, for a signal warning fence with a small area, even a short packet loss on the communication network has little impact on flight control, since the time for a drone to pass through the area is short. However, if such a large number of signal warning fences with too small area are added into the electronic map, they will cause obstacles to the planning of flight routes, and many routes with actual flight conditions will be shielded, which will greatly reduce the utilization of flight route space. Meanwhile, the excessive number of the signal warning fences can occupy larger data transmission bandwidth, which can increase the storage space of the signal warning fences and increase the manufacturing cost of the signal warning fences.

Thus, in some embodiments, flight control non-affecting small signal warning fences may be filtered.

Optionally, in some embodiments, the maximum tolerable area Smax of the dead zone may be tolerated by the drone. In some embodiments, the maximum tolerated area Smax may be determined from the fixed flight speed V and the flight control connection timeout time T of the drone. Illustratively, the maximum tolerable area Smax can be calculated according to equation (1).

Smax＝π(VT*VT) (1)

Illustratively, continuing with fig. 4, fig. 4 shows a region 1, a region 2 and a region 3 with poor signal quality in one of the planes, wherein the areas of the region 1, the region 2 and the region 3 are S1, S2 and S3, respectively, and S2< Smax < S1< S3, so that only the region 1 and the region 3 with areas larger than Smax can be selected and filtered out the region 2 as a signal warning fence of the final wireless signal warning. Alternatively, for a circular or nearly circular fence area, a calculation formula of the circular area can be adopted for calculation.

For the fence area of the polygon, the lengths of the sides of the polygon can be obtained first, the area Sk and the maximum side length Lmax are obtained, VT > Lmax is judged, and if Sk < Smax, the fence area Sk can be filtered.

It can be understood that there are many methods for determining the fence area to be filtered, and the above methods are only examples, and other determination methods constructed based on the above concepts are all within the scope of the present invention.

Specifically, in some embodiments, acquiring the flight signal warning fence Fc in the flight target area according to the communication link transmission requirement, the maximum tolerable area Smax and the three-dimensional warning fence may include the following steps:

first, according to the transmission requirement of the communication link, the signal quality level corresponding to the transmission requirement of the communication link is determined. Then, according to the signal quality level required by the transmission of the communication link, k areas of the signal warning fences corresponding to the signal quality level required by the transmission of the communication link are determined, wherein k is an integer greater than or equal to 0. And finally, acquiring the flight signal warning fence Fc from the three-dimensional warning fence according to the area and the maximum tolerance area of the signal warning fence corresponding to the signal quality grade required by the communication link transmission.

Optionally, in some embodiments, for example, according to the preset signal quality levels shown in table 2, level 2 and level 3 are respectively of normal signal quality and poor signal quality, so when filtering the original three-dimensional signal warning fence, optionally, small-area areas with signal quality of level 2 and level 3 may not be filtered, that is, if the signal quality is normal or poor, the corresponding signal warning fence will be retained.

For example, continuing with the signal warning fence diagram of a certain plane with a signal quality level of level 1 shown in fig. 6, when flying, the signal quality only needs to meet the requirement of flight control, so for drone a, when the maximum tolerable area of drone a is SmaxA, and SmaxA < S1< S2< S3< S4, the areas of S1 and S2 are retained in the flight signal warning fence of the flight target area.

For drone B, the maximum tolerable area is SmaxB, so that when S1< S2< SmaxB < S3< S4, for a planar signal quality class 1 signal warning fence as shown in fig. 6, after filtering the signal warning fence, the signal warning fence schematic as shown in fig. 7 is obtained, and the areas S1 and S2 are filtered out.

And finally, acquiring a complete flight signal warning fence Fc of the flight target area according to the signal warning fence acquired by each horizontal layer. Fig. 8 is a schematic diagram of the effect of the flight signal warning fence of different heights in the air flight target area.

It can be understood that when customizing the flight signal warning fence for the unmanned aerial vehicle, only customizing the signal warning fence for the unmanned aerial vehicle model can be considered according to actual needs. The requirement for communication link transmission can be customized to signal warning fences only when the unmanned aerial vehicle is in flight. And the unmanned aerial vehicle type and the requirement on communication link transmission during flight can be combined simultaneously to carry out customized signal warning fence.

Illustratively, when only the customized signal warning fence for the unmanned aerial vehicle model is considered, before the unmanned aerial vehicle takes off, the maximum tolerable area Smax can be calculated according to the flight speed of the unmanned aerial vehicle and the flight control timeout time T, and redundant fence areas are removed to obtain the customized signal warning fence for the specific unmanned aerial vehicle currently requesting service.

For example, whether to place an airspace with a signal quality level of 2 into a signal warning fence is optional for a specific unmanned aerial vehicle mission. For example, for a flight mission requiring high-definition pictures/videos and other large bandwidths to be transmitted back to the ground from an unmanned aerial vehicle in real time, the region of level 2 needs to be placed in a signal warning fence, and for a flight mission requiring only control/management transmission requirements, the region of level 2 does not need to be placed in the signal warning fence. Obviously, in the area of level 2, the unmanned aerial vehicle has a larger flight path planning range under the condition that the signal warning fence is not required to be placed, so that more airspaces are fully utilized by the unmanned aerial vehicle.

After the flight signal warning fence Fc is obtained, S750 is executed.

S540, the flight signal warning fence of the unmanned aerial vehicle in the flight target area is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can navigate according to the flight signal warning fence.

In some embodiments, the method of route planning further comprises: acquiring a no-fly zone of a flight target area; and sending the unmanned aerial vehicle to the unmanned aerial vehicle in the no-fly zone of the flight target area. For example, the no-fly zone Fw may include geographic information of a dangerous area, a restricted area, a clearance area, and the like, which are defined by civil aviation.

After the unmanned aerial vehicle receives the flight signal warning fence Fc and the no-fly area Fw, the flight signal warning fence Fc and the no-fly area Fw are loaded into an unmanned aerial vehicle flight control system to serve as an important basis for an unmanned aerial vehicle flight route gauge.

According to the air route planning method provided by the embodiment of the invention, the three-dimensional warning fence of the unmanned aerial vehicle in the flight target area is obtained based on the three-dimensional warning fence manufactured by the signal warning fence manufacturing platform, and the air three-dimensional signal warning fence can be customized and planned according to different unmanned aerial vehicle models and flight mission requirements according to the three-dimensional warning fence, the signal quality grade judging method and the filtering judging algorithm, so that the flight airspace of the unmanned aerial vehicle is utilized to the maximum extent.

Based on the three-dimensional warning fence manufacturing method and the air route planning method provided by the embodiment of the invention, the embodiment of the invention also provides a flight adjusting method applied to the unmanned aerial vehicle. Fig. 9 is a schematic flow chart of a flight adjustment method according to an embodiment of the present invention. The flight adjustment method can be applied to the unmanned aerial vehicle, and the flight adjustment method can comprise the following steps:

s910, receiving a flight fence sent by the airway planning platform, wherein the flight fence comprises a flight signal warning fence and a no-fly zone, and the flight signal warning fence is obtained according to the airway planning method provided by the embodiment of the invention.

S920, determining a flyable region of the flying target region according to the flying fence.

In some embodiments, when the unmanned aerial vehicle plans an airline, the flight signal warning fence Fc and the no-fly zone Fw of the current flight can be used as an airline no-go zone, and the Fc and the Fw are automatically removed from the airline in the planning algorithm, so that the airline without a signal black hole is planned.

And S930, adjusting the flight route according to the flyable region.

Wherein, according to the flight route of the adjustable flight area, can include: acquiring the distance between the unmanned aerial vehicle and the flight signal warning fence; and when the flying route of the unmanned aerial vehicle needs to be adjusted according to the distance and the preset distance threshold value, adjusting the flying route according to a preset avoidance algorithm. Wherein, the preset distance threshold value can be determined according to the flight speed of the unmanned aerial vehicle and the delay time of the communication link.

In some embodiments, when planning a route, the drone may first remove the no-fly zone Fw from the route, and if the drone reaches the preset distance threshold Dmax from the edge of Fc1 in the flight signal warning fence, the drone's control device may issue a prompt. Optionally, the specific size of Dmax may be set according to the flight speed of the drone and the link delay time. Illustratively, as the drone continues to approach Fc1, the drone no longer executes control instructions toward Fc 1. The unmanned aerial vehicle can automatically adjust the state of the aircraft according to a preset avoidance algorithm, wherein the avoidance algorithm is any rule and algorithm capable of avoiding the area Fc1 at the future time t1, and is not specifically limited herein.

The strategy for adjusting the flight state of the aircraft can comprise acceleration, deceleration, detour and the like, wherein the detour comprises any angle such as upward, downward, leftward, rightward and the like.

In some embodiments, the warning information may also be warning information sent to a ground control device of the drone through the routing platform, or other forms of warning. After the ground control equipment of the unmanned aerial vehicle receives the early warning information, the ground control equipment can timely guide the unmanned aerial vehicle to avoid the area with weak or even no signal in the air when flying.

In the flight adjustment method of the unmanned aerial vehicle provided by the embodiment of the invention, through the interaction between the unmanned aerial vehicle and the air route planning platform, the signal quality of the aerial communication signal is fully considered when the flight mission is executed, and an important reference is provided for the air route of the unmanned aerial vehicle.

Fig. 10 is a schematic flow chart illustrating a three-dimensional warning fence and an application method according to an embodiment of the present invention. As shown in fig. 10, the wireless simulation platform can provide a database of wireless signal coverage in the air of the production area, and during the production process, the signal warning fence production platform can divide the three-dimensional map into n horizontal layers in the vertical ground direction. The signal warning fence manufacturing platform calculates the empty wireless signal coverage data through a wireless simulation tool based on the input information of base station work survey parameters, cell configuration, antenna directional diagrams and the like, and meanwhile, simulation deviation correction can be carried out according to the signal coverage measured value. Then, according to a signal quality level table such as shown in table 2, two-dimensional graphs of different signal quality levels such as circles, polygons, and the like are drawn in the three-dimensional map according to given coordinates. Alternatively, the granularity of the coordinates is determined by the accuracy of the three-dimensional map, for example, a high-accuracy three-dimensional map on the centimeter (cm) scale may be used. And finally, storing the obtained three-dimensional warning fence in the manufacturing area into a database of a signal warning fence manufacturing platform, namely the original three-dimensional warning fence.

When the unmanned aerial vehicle is to be planned before taking off, the route planning platform can acquire the original three-dimensional warning fence in the flight target area from the database of the signal warning fence manufacturing platform according to the flight target area of the unmanned aerial vehicle. The route planning platform can, for example, draw a customized signal warning fence Fc for the unmanned aerial vehicle according to the communication link transmission bandwidth requirement, the maximum flight speed, and the flight target area required by the unmanned aerial vehicle. According to the signal quality judgment algorithm, the signal coverage condition on the designated path can be obtained, and a basis is provided for flight path planning. The path may be a three-dimensional path or a two-dimensional path. The specific steps of the method for planning an airway according to the embodiment of the present invention shown in fig. 5 can be referred to, and are not described herein again.

In some embodiments, the route planning platform may further obtain geographic information of a dangerous area, a limited area, a clearance area, and the like specified by civil aviation in the flight target area to obtain the no-fly area Fw. And the route planning platform sends the signal warning fence Fc and the no-fly area Fw to the unmanned aerial vehicle together through the cellular network.

The unmanned aerial vehicle can warn fence Fc and no-fly zone Fw to adjust flight status according to the signal received.

The embodiment of the invention provides a wireless communication signal available area for the unmanned aerial vehicle flying in the air, and can effectively solve the communication link safety problem of the unmanned aerial vehicle.

Fig. 11 is a schematic structural diagram of a three-dimensional warning fence manufacturing apparatus according to an embodiment of the present invention, and as shown in fig. 11, the three-dimensional warning fence manufacturing apparatus may include: acquisition module 1110, signal determination module 1120, fence determination module 1130.

An obtaining module 1110, configured to obtain location information and base station parameter information of at least one base station in a manufacturing area.

And a signal determining module 1120, configured to determine, within a preset height range, signal coverage information of at least one horizontal layer of a preset height according to the location information and the base station parameter information of each base station.

The fence determining module 1130 is configured to determine, according to a preset signal quality level, a level signal warning fence corresponding to each horizontal layer in the signal coverage information of each horizontal layer.

The fence determination module 1130 is further configured to determine a three-dimensional warning fence of the manufacturing area according to the signal warning fence in the signal coverage information of each horizontal layer.

In some embodiments, the signal determining module 1120 is further configured to obtain measured signal information in the production area; and optimizing the signal coverage information of each horizontal layer according to the actually measured signal information and a preset optimization algorithm to obtain the signal coverage information of at least one horizontal layer at a preset height.

It can be understood that the three-dimensional warning fence manufacturing apparatus according to the embodiment of the present invention may correspond to the execution main body of the three-dimensional warning fence manufacturing method described in the embodiment of the present invention, and specific details of the operation and/or function of each module/unit of the three-dimensional warning fence manufacturing apparatus may be referred to the description of the corresponding part in the three-dimensional warning fence manufacturing method described in the embodiment of the present invention, and are not described herein again for brevity.

The three-dimensional warning fence manufacturing device provided by the embodiment of the invention determines the signal coverage information of the horizon layer with the preset height according to the position information of the base station and the parameter information of the base station, such as by inputting information of a survey parameter, cell configuration and the like, in the preset height range of the manufacturing area based on the longitude, latitude and height three-dimensional information, so that the signal coverage information meeting the error requirement of the signal warning fence can be obtained, and for example, a database of wireless signal information obtained by calculating indexes such as RSRP or SINR of each horizon layer based on a simulation tool is used. Then, in the signal coverage information of each horizontal layer, according to preset signal quality level, the grade signal warning fence corresponding to each determined horizontal layer is used for the aerial three-dimensional warning fence of the unmanned aerial vehicle based on the three-dimensional information, when the unmanned aerial vehicle flies, the unmanned aerial vehicle is prevented from entering a signal blind area, flight safety is guaranteed, and meanwhile, the flight airspace of the unmanned aerial vehicle is utilized to the maximum extent according to the three-dimensional warning fence obtained according to the preset signal quality level.

Fig. 12 is a schematic structural diagram of an airway planning device according to an embodiment of the present invention, and as shown in fig. 3, the airway planning device may include: an acquisition module 1210, a fence customization module 1220, and a sending module 1230.

The obtaining module 1210 is configured to obtain a communication link transmission requirement of the drone, a flight target area, and a maximum tolerance area Smax of the drone to a non-signal area.

The obtaining module 1210 is further configured to obtain a three-dimensional warning fence of the flight target area from the signal warning fence manufacturing platform according to the flight target area; the three-dimensional warning fence is generated according to the manufacturing method of the three-dimensional warning fence described in the embodiment of the invention.

The fence customizing module 1220 is configured to obtain the flight signal warning fence Fc in the flight target area according to the communication link transmission requirement, the maximum tolerable area Smax, and the three-dimensional warning fence.

The sending module 1230 is configured to send the flight signal warning fence Fc of the unmanned aerial vehicle in the flight target area to the unmanned aerial vehicle by the user, so that the unmanned aerial vehicle navigates according to the flight signal warning fence Fc.

In some embodiments, the obtaining module 1210 is further configured to obtain a no-fly zone Fw of the flight target area; the sending module 1230 is further configured to send the no-fly zone Fw of the unmanned aerial vehicle in the flight target area to the unmanned aerial vehicle.

In some embodiments, the three-dimensional alert fence of the flight target area comprises a signal alert fence of at least one signal quality level.

In some embodiments, the fence customizing module 1220 is specifically configured to determine, according to the transmission requirement of the communication link, a signal quality level corresponding to the transmission requirement of the communication link; according to the signal quality level required by the transmission of the communication link, determining the area Sk of k signal warning fences corresponding to the signal quality level required by the transmission of the communication link in each horizontal layer, wherein k is an integer greater than or equal to 0; and acquiring a flight signal warning fence Fc from the three-dimensional warning fence according to the area of the signal warning fence with the signal quality grade required by the transmission of the communication link and the maximum tolerance area Smax.

It can be understood that the route planning apparatus according to the embodiment of the present invention may correspond to the main execution body of the route planning method described in the embodiment of the present invention, and specific details of the operation and/or function of each module/unit of the route planning apparatus may refer to the description of the corresponding part in the route planning method provided in the embodiment of the present invention, and are not described herein again for brevity.

The air route planning device provided by the embodiment of the invention is used for acquiring the three-dimensional warning fence of the unmanned aerial vehicle in a flight target area based on the three-dimensional warning fence manufactured by the signal warning fence manufacturing platform, and can be used for customizing and planning the aerial three-dimensional wireless signal warning fence according to different unmanned aerial vehicle models and flight mission requirements according to the three-dimensional warning fence, a signal quality grade judging method and a filtering and judging algorithm, so that the flight airspace of the unmanned aerial vehicle is utilized to the maximum degree, and meanwhile, the unmanned aerial vehicle is effectively prevented from flying into a signal blind area.

Fig. 13 is a schematic structural diagram of a flight adjustment apparatus according to an embodiment of the present invention, and as shown in fig. 13, the flight adjustment apparatus may include: a receiving module 1310, a flight zone determining module 1320, a flight adjustment module 1330.

The receiving module 1310 is configured to receive a flight fence sent by the airway planning platform, where the flight fence includes a flight signal warning fence Fc and a flight prohibiting area Fw, where the flight signal warning fence Fc is obtained according to the airway planning method described in the embodiment of the present invention.

A flight area determining module 1320, configured to determine a flyable area of the flight target area according to the flight fence.

The flight adjusting module 1330 is configured to adjust a flight route according to the flyable region.

In some embodiments, the flight adjustment module 1330 is specifically configured to obtain a distance between the drone and the flight signal warning fence Fc; and when the flying route of the unmanned aerial vehicle needs to be adjusted according to the distance and the preset distance threshold value, adjusting the flying route according to a preset avoidance algorithm. The preset distance threshold value is determined according to the flight speed of the unmanned aerial vehicle and the delay time of the communication link.

It is to be understood that the flight adjustment device according to the embodiment of the present invention may correspond to the execution main body of the flight adjustment method described in the embodiment of the present invention, and specific details of the operation and/or function of each module/unit of the flight adjustment device may refer to the description of the corresponding part in the flight adjustment method described in the embodiment of the present invention, and are not described herein again for brevity.

According to the flight adjusting device provided by the embodiment of the invention, through the interaction between the unmanned aerial vehicle and the air route planning platform, the signal quality of the aerial communication signal is fully considered when the flight mission is executed, and an important reference is provided for the air route of the unmanned aerial vehicle. By indicating the available area of wireless communication signals for the unmanned aerial vehicle flying in the air, the safety problem of the communication link of the unmanned aerial vehicle can be effectively solved.

As shown in fig. 14, the flight adjustment device in the present embodiment includes an input device 1401, an input interface 1402, a central processor 1403, a memory 1404, an output interface 1405, and an output device 1406. The input interface 1402, the central processor 1403, the memory 1404, and the output interface 1405 are connected to each other by a bus 1410, and the input device 1401 and the output device 1406 are connected to the bus 1410 by the input interface 1402 and the output interface 1405, respectively, and further connected to other components of the flight adjustment device.

Specifically, the input device 1401 receives input information from the outside and transmits the input information to the central processor 1403 via the input interface 1402; central processor 1403 processes the input information based on computer-executable instructions stored in memory 1404 to generate output information, stores the output information temporarily or permanently in memory 1404, and then transmits the output information to output device 1406 via output interface 1405; output device 1406 outputs output information to the exterior of the flight adjustment device for use by a user.

That is, the flight adjustment apparatus shown in fig. 14 may also be implemented to include: a memory storing computer-executable instructions; and a processor, which can implement the three-dimensional warning fence manufacturing method, the air route planning method and the flight adjusting method described in the embodiments of the present invention when executing the computer executable instructions.

In one embodiment, the flight adjustment apparatus shown in fig. 14 comprises: a memory 1404 for storing programs; the processor 1403 is configured to run a program stored in the memory to execute the three-dimensional warning fence manufacturing method, the air route planning method, and the flight adjustment method described in the embodiments of the present invention.

An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium has computer program instructions stored thereon; when executed by the processor, the computer program instructions may implement the three-dimensional warning fence manufacturing method, the air route planning method and the flight adjustment method described in the embodiments of the present invention.

It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuits, semiconductor Memory devices, Read-Only memories (ROMs), flash memories, erasable ROMs (eroms), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.

As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.

Claims

1. A method for manufacturing a three-dimensional warning fence is applied to a signal warning fence manufacturing platform and comprises the following steps:

acquiring position information and base station parameter information of at least one base station in a manufacturing area;

determining signal coverage information of at least one horizontal layer with a preset height within a preset height range according to the position information of each base station and the parameter information of the base station;

and determining the three-dimensional warning fences of the manufacturing area according to the signal warning fences in the signal coverage information of each horizontal layer.

2. The method of claim 1, wherein the determining signal coverage information of at least one horizontal layer with a preset height according to the location information of each base station and the base station parameter information further comprises:

acquiring actually measured signal information in a manufacturing area;

and optimizing the signal coverage information of each horizontal layer according to the actually measured signal information and a preset optimization algorithm to obtain the signal coverage information of at least one horizontal layer at the preset height.

3. A method for planning an airway, which is applied to an airway planning platform, the method comprising:

acquiring a communication link transmission requirement of an unmanned aerial vehicle, a flight target area and the maximum tolerance area of the unmanned aerial vehicle to a signal-free area;

according to the flight target area, acquiring a three-dimensional warning fence of the flight target area from a signal warning fence manufacturing platform; the three-dimensional warning fence is generated according to the three-dimensional warning fence manufacturing method of any one of claims 1-2;

acquiring a flight signal warning fence in the flight target area according to the communication link transmission requirement, the maximum tolerance area and the three-dimensional warning fence;

and sending the unmanned aerial vehicle to the flight signal warning fence of the flight target area, so that the unmanned aerial vehicle can navigate according to the flight signal warning fence.

4. The method of claim 3, further comprising:

acquiring a no-fly zone of the flight target area;

and sending the unmanned aerial vehicle to the unmanned aerial vehicle in a no-fly zone of the flight target area.

5. The method of claim 3, wherein the three-dimensional alert fence of the flight target area comprises a signal alert fence of at least one signal quality level.

6. The method of claim 3, wherein the obtaining a flight signal alert fence at the flight target area based on the communication link transmission requirements, the maximum tolerable area, and the three-dimensional alert fence comprises:

determining a signal quality level corresponding to the transmission requirement of the communication link according to the transmission requirement of the communication link; and the number of the first and second groups,

according to the signal quality level required by the transmission of the communication link, determining the area of k signal warning fences corresponding to the signal quality level required by the transmission of the communication link in each horizontal layer, wherein k is an integer greater than or equal to 0;

and acquiring the flight signal warning fence from the three-dimensional warning fence according to the area of the signal warning fence corresponding to the signal quality grade required by the communication link transmission and the maximum tolerance area.

7. A flight adjustment method is applied to an unmanned aerial vehicle, and comprises the following steps:

receiving a flight fence sent by the route planning platform, wherein the flight fence comprises a flight signal warning fence and a no-fly zone, and the flight signal warning fence is obtained according to the route planning method of any one of claims 3-6;

and adjusting the flight route according to the flyable area.

8. The method of claim 7, wherein said adjusting the flight path according to the flyable region comprises:

acquiring the distance between the unmanned aerial vehicle and the flight signal warning fence;

and when the unmanned aerial vehicle is judged to need to adjust the flight route according to the distance and a preset distance threshold value, adjusting the flight route according to a preset avoidance algorithm.

9. The method of claim 7, wherein the preset distance threshold is determined based on a flight speed of the drone and a delay time of the communication link.

10. A three-dimensional warning fence making device, its characterized in that, the device includes:

the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring the position information and the base station parameter information of at least one base station in a manufacturing area;

the signal determining module is used for determining signal coverage information of at least one horizontal layer with a preset height within a preset height range according to the position information of each base station and the parameter information of the base stations;

the fence determining module is used for determining a grade signal warning fence corresponding to each horizontal layer in the signal coverage information of each horizontal layer according to a preset signal quality grade;

the fence determining module is further configured to determine a three-dimensional warning fence of the manufacturing area according to the signal warning fence in the signal coverage information of each horizontal layer.

11. An apparatus for routing an aircraft, the apparatus comprising:

the acquisition module is further used for acquiring a three-dimensional warning fence of the flight target area from a signal warning fence manufacturing platform according to the flight target area; the three-dimensional warning fence is generated according to the three-dimensional warning fence manufacturing method of any one of claims 1-2;

the fence customizing module is used for acquiring a flight signal warning fence in the flight target area according to the communication link transmission requirement, the maximum tolerance area and the three-dimensional warning fence;

the sending module is used for sending the unmanned aerial vehicle to the flight signal warning fence in the flight target area, so that the unmanned aerial vehicle can navigate according to the flight signal warning fence.

12. A flight adjustment device, the device comprising:

a receiving module, configured to receive a flight fence sent by the route planning platform, where the flight fence includes a flight signal warning fence and a no-fly zone, and the flight signal warning fence is obtained according to the route planning method according to any one of claims 3 to 6;

the flight area determining module is used for determining a flyable area of a flight target area according to the flight fence;

13. An apparatus for routing, the apparatus comprising: a processor, and a memory storing computer program instructions;

the processor reads and executes the computer program instructions to implement the method for making a three-dimensional warning fence according to any one of claims 1 to 2, the method for planning a route according to any one of claims 3 to 6, or the method for adjusting a flight according to any one of claims 7 to 9.

14. A computer storage medium having computer program instructions stored thereon which, when executed by a processor, implement the method of making a three-dimensional warning fence according to any one of claims 1-2, the method of routing according to any one of claims 3-6, or the method of flight adjustment according to any one of claims 7-9.