CN113763755B

CN113763755B - Manufacturing method of three-dimensional warning fence, route planning method and flight adjusting method

Info

Publication number: CN113763755B
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: 2023-10-27
Anticipated expiration: 2040-06-04
Also published as: WO2021243893A1; CN113763755A

Abstract

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

Description

Manufacturing method of three-dimensional warning fence, 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, a route planning method and a flight adjusting method.

Background

The emerging industry for unmanned aerial vehicles is developing vigorously. When the unmanned plane flies, the unmanned plane receives communication information such as control, management, load and the like through a wireless communication link. However, it is difficult for the wireless communication link to achieve full coverage over the air. Taking a cellular network as an example, when the cellular network is built, the coverage of the ground is mainly considered, the coverage of the air is not planned, and even if the 5G under construction is completely put into the air, a large amount of signal blind areas exist in the air.

At present, because of the signal blind area existing in the air, after the unmanned aerial vehicle enters the signal blind area, an event of losing connection of the unmanned aerial vehicle can occur, so that the unmanned aerial vehicle is out of control.

Therefore, when the unmanned aerial vehicle flies, the continuous coverage area of the communication signal can be known, the unmanned aerial vehicle is prevented from entering the signal blind area, and the unmanned aerial vehicle is very important for 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 avoid an unmanned aerial vehicle from entering the signal blind areas and ensure 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 the position information and base station parameter information of at least one base station in a production area;

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

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

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

In some implementations of the first aspect, determining 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 further includes:

obtaining actual measurement 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 a routing method, where the method is applied to a routing platform, and the method includes: acquiring the 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 no-signal area;

According to the flying target area, acquiring a three-dimensional warning fence of the flying target area from a signal warning fence manufacturing platform; wherein the three-dimensional warning fence is generated according to the first aspect or the three-dimensional warning fence manufacturing method described in any implementation manner 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 so as to be used for the unmanned aerial vehicle to navigate according to the flight signal warning fence.

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

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

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

In some implementations of the second aspect, acquiring a flight signal warning fence at a flight target area according to a communication link transmission requirement, a maximum tolerant area, and a 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; the method comprises the steps of,

Determining the areas of k signal warning fences corresponding to the signal quality levels required by the transmission of the communication links of 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 level 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 a 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 second aspect or the route planning method in any one of the realizable modes of the second aspect;

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

the flight path is adjusted according to the flyable area.

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

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

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

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

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

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;

the fence determining module is also used for determining the 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 a routing apparatus, the apparatus comprising:

the acquisition module is used for acquiring the communication link transmission requirement of the unmanned aerial vehicle, the flight target area and the maximum tolerance area of the unmanned aerial vehicle to the no-signal area;

the acquisition module is also used for acquiring the three-dimensional warning fence of the flight target area from the signal warning fence manufacturing platform according to the flight target area; wherein the three-dimensional warning fence is generated according to the first aspect or the three-dimensional warning fence manufacturing method described in any implementation manner 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 transmission requirement of the communication link, 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 as to be used for the unmanned aerial vehicle to navigate according to the flight signal warning fence.

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

the receiving module is used for receiving the 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 second aspect or any one of the realizable modes of 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 described in the first aspect or any of the possible implementation manners of the first aspect, the method for planning a route described in the second aspect or any of the possible implementation manners of the second aspect, and the method for adjusting a flight described in the third aspect or any of the possible implementation manners of the first aspect.

In an eighth aspect, the present invention provides a computer readable storage medium, on which computer program instructions are stored, which when executed by a processor implement the three-dimensional warning fence making method described in the first aspect or any of the realizations of the first aspect, the route planning method described in the second aspect or any of the realizations of the second aspect, and the flight adjustment method described in the third aspect or any of the realizations of the second 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 of the base station 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 the signal coverage information of every horizontal layer, according to preset signal quality grade, the corresponding grade signal warning rail of every horizontal layer of assurance is used for the aerial three-dimensional warning rail of unmanned aerial vehicle based on three-dimensional information, when unmanned aerial vehicle flies, avoids unmanned aerial vehicle to get into signal blind area, guarantees flight safety, simultaneously, the three-dimensional warning rail of obtaining according to preset signal quality grade also makes unmanned aerial vehicle's flight airspace obtain furthest's utilization.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are needed to be used in the embodiments of the present invention will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

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

FIG. 2 is a schematic diagram of a position 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 diagram of a signaling warning fence according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of a route planning method according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of another signal warning fence according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of yet another signaling alert fence provided by an embodiment of the present invention;

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

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

FIG. 12 is a schematic diagram of a routing device according to an embodiment of the present invention;

FIG. 13 is a schematic view of a flight adjusting device according to an embodiment of the present invention;

fig. 14 is a schematic hardware structure 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 the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are merely configured to illustrate the invention and are not configured to limit 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 invention by showing examples of the invention.

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 like elements in a process, method, article or apparatus that comprises the element.

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

The emerging industry for unmanned aerial vehicles is actively developing, and unmanned aerial vehicles receive information such as control, management, and load through wireless communication links while flying. That is, when the unmanned aerial vehicle flies, the unmanned aerial vehicle must rely on the coverage of wireless network signals in the air, and once the space through which the unmanned aerial vehicle passes has no wireless signals or the signals are poor, the flight control link of the unmanned aerial vehicle is disconnected, and the disconnection of the flight control link may cause catastrophic accidents of the unmanned aerial vehicle, such as disconnection and even falling.

In order to ensure the flight safety of the unmanned aerial vehicle, the existing technical scheme is that the unmanned aerial vehicle which is about to enter an air control area is blocked by defining a specific area in a corresponding electronic geographic range through a software and hardware system matched with a flight control system of the unmanned aerial vehicle. I.e. typically an electronic fence provided by the unmanned aerial vehicle while in flight. After the electronic fence is implanted in the unmanned aerial vehicle flight control system, the unmanned aerial vehicle can recognize the geographic position through a global positioning system (Global Positioning System, GPS), and the unmanned aerial vehicle can automatically land or return to the home in the area provided with the electronic fence. Under normal conditions, whether the unmanned aerial vehicle enters an electronic fence is judged according to the current flight position in current flight data of the unmanned aerial vehicle, and when the unmanned aerial vehicle enters the electronic fence, prompt information is sent to equipment for controlling the unmanned aerial vehicle so as to avoid the unmanned aerial vehicle from being out of control.

However, it is difficult for the wireless communication link to achieve full coverage over the air. Taking cellular networks as an example, when the second Generation, third Generation and fourth Generation cellular networks are built, the coverage of the ground is mainly considered, the coverage of the air is not planned, and even if the fifth Generation mobile communication technology (5 th-Generation, 5G) which is being built is completely put into the air, a large number of signal dead areas exist in the air.

Therefore, due to the signal blind area existing in the air, after the unmanned aerial vehicle enters the signal blind area, the unmanned aerial vehicle can be out of control, and an event of unmanned aerial vehicle disconnection occurs. Therefore, when the unmanned aerial vehicle flies, the continuous coverage area of the communication signal can be known, the unmanned aerial vehicle can be prevented from entering the signal blind area in time, and the unmanned aerial vehicle is very important for the flight safety of the unmanned aerial vehicle.

In addition, it is important to note that when the unmanned aerial vehicle flies, whether a signal blind area exists on the flying route can be accurately known, and the requirements on signal coverage state and coverage quality are also very high when the unmanned aerial vehicle flies.

Aiming at one or more problems, the embodiment of the invention provides a manufacturing method of a three-dimensional warning fence, which can guide an unmanned aerial vehicle to avoid an aerial signal coverage blind area and a signal coverage weak area which does not meet the flight requirement of the unmanned aerial vehicle when flying, and indicates 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 schematic flow chart of 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 the three-dimensional warning fence can include the following steps:

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

Coverage quality data for wireless signals can typically be obtained through wireless simulation tools and wireless drive test. In some embodiments, information such as location information and base station parameter information of the base stations in the fabrication area of the three-dimensional warning fence can be input on the wireless simulation tool. Exemplary, base station parameter information is shown in table 1.

TABLE 1

Base station	Frequency band	Bandwidth of a communication device	Transmitting and receiving
				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 obtains 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 and the base station parameter information. For example, a distribution diagram of location information of 5G base stations around a lake is shown in fig. 2.

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

In some embodiments, in a preset height range, before a three-dimensional coverage signal in a manufacturing area is obtained by combining information such as position information of a base station and parameter information of the base station with 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 can be performed first, and then calculation is performed by using various path loss calculation methods such as wear-high, single peak and the like to obtain a more accurate three-dimensional coverage signal.

As a specific embodiment, the location of the base station in the manufacturing area, the surrounding level 5KM, and the signal coverage in the preset height range can be obtained based on the wireless simulation tool. Alternatively, in some embodiments, the predetermined height range may be set to a height of 0-1000 meters from vertical to the ground. The acquired signal coverage may include at least a reference signal received power (Reference Signal Receiving Power, RSRP), a signal to interference plus noise ratio (Signal to Interference plus Noise Ratio, SINR), etc.

Specifically, as a specific example, a horizontal layer ranging from the ground to a preset height and a preset height is divided into 5 planes at an interval h=50m, for example, from above the ground to 200m as shown in fig. 3. The plane corresponding to h=0 may be the ground. Alternatively, h may be determined according to the accuracy and actual usage requirements of the map. 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 combination of the wireless simulation tool and the actual test of the wireless test instrument may be used to obtain the signal coverage information of the horizontal layer at each preset height.

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

After obtaining the signal coverage information of each horizontal layer with a preset height, in some embodiments, RSRP, SINR values of a horizontal plane where any specified height is located may be obtained, so as to construct a meshed air signal coverage quality network. 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 at least one horizontal layer of a preset height according to the location information and the base station parameter information of each base station may further include: obtaining actual measurement 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 actually 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 preset optimization algorithm may include, but is not limited to, at least any one of the following: filter algorithm, neural network, deep learning method, mathematical statistics method, heuristic method, etc.

After the signal coverage information for each preset height is obtained, S130 is continued.

S130, 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.

In some embodiments, the control signaling of the drone may be affected in areas of poor signal quality, and therefore areas of poor signal quality may be preferred as signal alert fences. It can be appreciated that, if necessary, a region with a general signal quality may be used as the signal warning fence, for example, when the unmanned aerial vehicle needs to perform transmission of a large data service such as a high-speed video, a region with a general signal quality and a region with a poor signal quality may be used as the signal warning fence.

As a specific example, the quality level of the signal may be preset in combination with two parameters of RSRP and SINR, and the signal quality may be divided for each area in the two-dimensional plane. Taking two parameters, RSRP and SINR as examples, the preset signal quality level may be as 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 difference area on the n=4 plane as a signal warning fence. Where on the plane of n=4, the signal quality of regions 1, 2, 3 is poor.

It should be understood that there are many ways to divide the signal quality level, the signal quality level in table 2 is only an example, and other judging methods constructed by taking this as the design concept are all within the protection scope of the present invention.

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

It can be appreciated that after integrating the signal warning fences in the signal coverage information of each horizontal layer, 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, disclosed by the embodiment of the invention, the signal warning fence areas at different heights are marked in the map, and finally, a three-dimensional signal warning fence can be formed. In the embodiment of the invention, the three-dimensional map is combined with the longitude and latitude and height sets, so that the three-dimensional map of the signal warning fence can be drawn, and meanwhile, whether the designated position is in the fence can be judged according to the longitude and latitude height sets. By way of example, the three-dimensional map may be a common map service platform such as an electronic map.

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

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. A flow diagram of a method of route planning is shown in fig. 5. The method can be applied to a routing platform, and the routing method can comprise the following steps:

s510, acquiring the communication link transmission requirement of the unmanned aerial vehicle, the flight target area and the maximum tolerance area of the unmanned aerial vehicle to the no-signal area.

In some embodiments, different flight missions may correspond to different requirements 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 a 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 routing platform obtains the complete three-dimensional alert fence, i.e., the original three-dimensional alert fence, for the flight target area from the wireless simulation platform database. Alternatively, the three-dimensional warning fence of the flying target area may comprise a signal warning fence of at least one signal quality level. The signal quality levels may be classified into level 1, level 2, level 3, as shown in table 2.

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

Specifically, the route planning platform carries out key parameters of unmanned aerial vehicle flight tasks: the communication link transmission requirements, the maximum tolerant area Smax and the flight target area are input into the original signal warning fence as conditions, and the flight signal warning fences Fc (Fc 1, fc2, fc3, … … Fcx) meeting the current flight requirements are customized, wherein Fc1, fcx are a plurality of flight signal warning fences included in the flight target area.

It will be appreciated that in some embodiments, for signal warning fences with small area, there is little impact on flight control due to the short time for the drone to traverse the area, even with short packet losses on the communication network. However, if such a large number of signal warning fences with too small an area are added to the electronic map, the planning of the flight route is hindered, so that many routes with the actual flight conditions are shielded, and the utilization of the space of the flight route is greatly compromised. Meanwhile, the number of the signal warning fences is too large, so that larger data transmission bandwidth can be occupied, the storage space of the signal warning fences can be increased, and the manufacturing cost of the signal warning fences is too high.

Thus, in some embodiments, the small signal warning fence can be filtered without affecting flight control.

Alternatively, in some embodiments, the maximum tolerable area Smax of the signal-free region may be tolerated by the drone. In some embodiments, the maximum tolerated area Smax may be determined from the fixed high flight speed V and the flight control connection timeout time T of the drone. By way of example, the calculation may be performed according to equation (1) maximum tolerated area Smax.

Smax＝π(VT*VT) (1)

As an example, continuing to combine with fig. 4, the areas of the area 1, the area 2 and the area 3 with poor signal quality in one plane shown in fig. 4 are S1, S2 and S3, respectively, and S2< Smax < S1< S3, so that only the area 1 and the area 3 with the area larger than Smax can be selected to be left, and the area 2 can be filtered out to be used as a signal warning fence of the final wireless signal warning. Alternatively, for a circular or near circular fence area, the calculation can be performed using a calculation formula for the circular area.

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 out.

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 methods for determining the fence area constructed by taking the above methods as design ideas are all within the protection scope of the present invention.

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

first, a signal quality level corresponding to a communication link transmission requirement is determined based on the communication link transmission requirement. And then, determining the areas of k signal warning fences corresponding to the signal quality levels required by the communication link transmission of each horizontal layer according to the signal quality levels required by the communication link transmission, 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 level required by the communication link transmission.

Alternatively, in some embodiments, for example, according to the preset signal quality levels shown in table 2, level 2 and level 3 are signal quality general and signal quality poor, respectively, so that when the original three-dimensional signal alert fence is filtered, it is possible to filter small area areas where the signal quality of the area is level 2 and level 3, i.e., if the signal quality is general or poor, the corresponding signal alert fence will remain.

For example, continuing to combine the signal warning fence with a signal quality level of level 1 for a certain plane shown in fig. 6, the signal quality only needs to meet the requirement of flight control during flight, so for unmanned aerial vehicle a, when the maximum tolerant area of unmanned aerial vehicle a is SmaxA and SmaxA < S1< S2< S3< S4, the areas with areas S1 and S2 remain in the flight signal warning fence of the flight target area.

For unmanned plane B, the maximum tolerant area is SmaxB, so when S1< S2< SmaxB < S3< S4, for a signal warning fence with a level 1 signal quality level on a certain plane shown in fig. 6, after filtering the signal warning fence, a signal warning fence schematic diagram as shown in fig. 7 is obtained, and the areas S1 and S2 are filtered.

Finally, according to the signal warning fence obtained by each horizontal layer, a complete flight signal warning fence Fc of the flight target area is obtained. As shown in fig. 8, the effect of the flight signal warning fence at different heights in the air flight target area is schematically shown.

It will be appreciated that when customizing the flight signal warning fence for an unmanned aerial vehicle, only the customization of the signal warning fence for the unmanned aerial vehicle model may be considered as required. The customized signal warning fence can be customized according to the requirements of the unmanned aerial vehicle on communication link transmission during flight. The customized signal warning fence can be combined with the unmanned aerial vehicle model and the requirement of communication link transmission in flight.

For example, when only the customized signal warning fence for the unmanned aerial vehicle model is considered, before the unmanned aerial vehicle takes off, the maximum tolerance area Smax can be calculated according to the flight speed and the flight control timeout time T of the unmanned aerial vehicle, and the redundant fence area is removed, so that the customized signal warning fence for the specific unmanned aerial vehicle currently requesting service is obtained.

Illustratively, whether to place an airspace with a signal quality level of 2 into a signal warning fence is optional for a particular unmanned aerial vehicle flight mission. For example, for a flight mission requiring a large bandwidth such as high definition pictures/video to be transmitted back from the drone to the ground in real time, the class 2 area needs to be placed in the signal warning fence, while for a flight mission requiring only control/management transmission requirements, the class 2 area does not need to be placed in the signal warning fence. Obviously, under the condition that the signal warning fence is not needed to be placed in the level 2 area, the flight route planning range of the unmanned aerial vehicle is larger, and more airspace is fully utilized by the unmanned aerial vehicle route.

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

S540, 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 can navigate according to the flight signal warning fence.

In some embodiments, the routing method further comprises: acquiring a no-fly zone of a flying target area; and sending the unmanned aerial vehicle to the unmanned aerial vehicle in the no-fly zone of the flying target area. By way of example, the no-fly zone Fw may include geographic information of areas such as danger zones, restriction zones, clearance zones, etc. specified by civil aviation.

After the unmanned aerial vehicle receives the flight signal warning fence Fc and the no-fly zone Fw, the flight signal warning fence Fc and the no-fly zone Fw are loaded into an unmanned aerial vehicle flight control system to provide important basis as an unmanned aerial vehicle flight path rule.

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

Based on the three-dimensional warning fence manufacturing method and the 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 a 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 provided by the embodiment of the invention.

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

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

S930, adjusting the flight route according to the flyable area.

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

In some embodiments, the unmanned aerial vehicle may first remove the no-fly zone Fw from the route when planning the route, provided that the control device of the unmanned aerial vehicle may issue a prompt when the unmanned aerial vehicle reaches the preset distance threshold Dmax from the edge of Fc1 in the flight signal warning fence. Optionally, the specific size of Dmax may be set according to the unmanned aerial vehicle flight speed 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 region Fc1 at the future time t1, and is not particularly limited.

The strategy for adjusting the flight status of the aircraft can include acceleration, deceleration, detour, etc., and detour can include any angle up, down, left, right, etc.

In some embodiments, the early warning information may also be sent to the ground control device of the unmanned aerial vehicle through the routing platform, or other forms of early warning. After the ground control equipment of the unmanned aerial vehicle receives the early warning information, the unmanned aerial vehicle can be guided to avoid areas with weak aerial signals and even no signals in time when flying.

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

Fig. 10 is a schematic flow chart of 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 may provide an aerial wireless signal coverage database of the fabrication area, and during fabrication, the signal warning fence fabrication platform may divide the three-dimensional map into n layers that are horizontal in the vertical ground direction. The signal warning fence manufacturing platform calculates wireless signal coverage data for the sky through a wireless simulation tool based on the input information such as base station engineering parameters, cell configuration, antenna patterns and the like, and meanwhile, simulation deviation correction can be carried out according to the actual measurement value of the signal coverage. Then, according to a signal quality level table such as shown in table 2, two-dimensional figures of different signal quality levels, such as circles, polygons, etc., are drawn in a 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 three-dimensional map of high accuracy on the order of centimeters (cm) may be used. Finally, the obtained three-dimensional warning fence of the manufacturing area can be stored in a database of a signal warning fence manufacturing platform, namely the original three-dimensional warning fence.

When the unmanned aerial vehicle is to define a route before taking off, the route planning platform can acquire an original three-dimensional warning fence of the flight target area from a database of the signal warning fence manufacturing platform according to the flight target area of the unmanned aerial vehicle. The routeing platform can transmit bandwidth requirements, maximum flight speed and a flight target area according to a communication link required by the unmanned aerial vehicle, for example, and a customized signal warning fence Fc drawn for 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 manufacturing steps may refer to the route planning method provided in fig. 5 according to the embodiment of the present invention, and will not be described herein.

In some embodiments, the routing platform may further obtain the no-fly zone Fw by acquiring geographic information of areas such as dangerous areas, restricted areas, clear areas, etc. specified by civil aviation in the target area of flight. The route planning platform sends the signal warning fence Fc and the no-fly zone Fw to the unmanned aerial vehicle together through the cellular network.

The unmanned aerial vehicle can warn rail Fc and the no-fly zone Fw adjustment flight condition according to the signal received.

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

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

An acquiring module 1110, configured to acquire location information and base station parameter information of at least one base station in the production area.

And the signal determining module 1120 is used for determining signal coverage information of at least one horizontal layer with preset height according to the position information and the base station parameter information of each base station in the preset height range.

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 determining 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 device according to the embodiment of the present invention may correspond to the execution body of the three-dimensional warning fence manufacturing method described in the embodiment of the present invention, and specific details of operations and/or functions of each module/unit of the three-dimensional warning fence manufacturing device may be referred to the description of the corresponding parts in the three-dimensional warning fence manufacturing method described in the embodiment of the present invention, which is not repeated herein for brevity.

According to the three-dimensional warning fence manufacturing device provided by the embodiment of the invention, based on three-dimensional information of longitude, latitude and altitude, the signal coverage information of the horizontal layer with the preset altitude is determined according to the position information of the base station and the parameter information of the base station in the preset altitude range of the manufacturing area, for example, by inputting information such as engineering survey parameters and cell configuration, 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. Then, in the signal coverage information of each horizontal layer, according to the preset signal quality grade, 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 three-dimensional information, when the unmanned aerial vehicle flies, the unmanned aerial vehicle is prevented from entering a signal blind area, the flight safety is ensured, and meanwhile, the three-dimensional warning fence obtained according to the preset signal quality grade also enables the flight airspace of the unmanned aerial vehicle to be utilized to the greatest extent.

FIG. 12 is a schematic structural diagram of a routing device according to an embodiment of the present invention, as shown in FIG. 3, the routing device may include: an acquisition module 1210, a fence customization module 1220, a transmission module 1230.

The acquiring module 1210 is configured to acquire a communication link transmission requirement of the unmanned aerial vehicle, a flight target area, and a maximum tolerance area Smax of the unmanned aerial vehicle to the no-signal area.

The acquisition module 1210 is further configured to acquire 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 a flight signal warning fence Fc in a flight target area according to the communication link transmission requirement, the maximum tolerant area Smax, and the three-dimensional warning fence.

The sending module 1230 sends 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 can navigate according to the flight signal warning fence Fc.

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

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

In some embodiments, the fence customization module 1220 is specifically configured to determine a signal quality level corresponding to the communication link transmission requirement according to the communication link transmission requirement; determining the areas Sk of k signal warning fences corresponding to the signal quality levels required by the transmission of the communication links of 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 Fc from the three-dimensional warning fence according to the area and the maximum tolerant area Smax of the signal warning fence of the signal quality level required by the communication link transmission.

It will be appreciated that the routing device according to the embodiment of the present invention may correspond to the execution body of the routing method described in the embodiment of the present invention, and specific details of the operations and/or functions of each module/unit of the routing device may be referred to the description of the corresponding portion of the routing method provided in the embodiment of the present invention, which is not repeated herein for brevity.

According to the route planning device provided by the embodiment of the invention, based on the three-dimensional warning fence manufactured by the signal warning fence manufacturing platform, the three-dimensional warning fence of the unmanned aerial vehicle in the flight target area is obtained, and the aerial three-dimensional wireless signal warning fence can be customized and planned according to different unmanned aerial vehicle models and flight task 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 greatest extent, 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 device according to an embodiment of the present invention, and as shown in fig. 13, the flight adjustment device may include: a receiving module 1310, a flight area determining module 1320, a flight adjusting module 1330.

The receiving module 1310 is configured to receive a flight fence sent by the routing platform, where the flight fence includes a flight signal warning fence Fc and a no-fly zone Fw, and the flight signal warning fence Fc is obtained according to the routing method described in the embodiments of the present invention.

The flight area determination module 1320 is configured to determine a flyable area of the flight object area based on the flight fence.

The flight adjustment module 1330 is configured to adjust the flight path according to the flyable region.

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

It will be appreciated that the flight adjustment device according to the embodiment of the present invention may correspond to the execution body of the flight adjustment method described in the embodiment of the present invention, and specific details of operations and/or functions of each module/unit of the flight adjustment device may be referred to the description of the corresponding parts in the flight adjustment method described in the embodiment of the present invention, which is not repeated herein for brevity.

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

As shown in fig. 14, the flight adjusting 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 through a bus 1410, and the input device 1401 and the output device 1406 are connected to the bus 1410 through 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 through the input interface 1402; the central processor 1403 processes the input information based on computer-executable instructions stored in the memory 1404 to generate output information, temporarily or permanently stores the output information in the memory 1404, and then transmits the output information to the output device 1406 via the output interface 1405; the output device 1406 outputs the output information to the outside of the flight adjustment device for use by a user.

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

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

Embodiments of the present invention also provide a computer readable storage medium having computer program instructions stored thereon; the computer program instructions, when executed by the processor, can implement the three-dimensional warning fence manufacturing method, the route planning method and the flight adjustment method described in the embodiments of the present invention.

It should be understood that the invention is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. 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 shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after appreciating the spirit of the present invention.

The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), suitable firmware, a plug-in, a 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 over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor Memory devices, read-Only Memory (ROM), flash Memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.

It should also be noted that the exemplary embodiments mentioned in this disclosure 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, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.

In the foregoing, only the specific embodiments of the present invention are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and they should be included in the scope of the present invention.

Claims

1. A method of route planning, the method being applied to a route planning platform, the method comprising:

acquiring a communication link transmission requirement of an unmanned aerial vehicle, a flight target area and a maximum tolerance area of the unmanned aerial vehicle to a no-signal area;

according to the flying target area, acquiring a three-dimensional warning fence of the flying target area from a signal warning fence manufacturing platform; wherein, three-dimensional warning rail is by signal warning rail preparation platform obtains through following step:

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

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

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;

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;

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;

transmitting a 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 can navigate according to the flight signal warning fence;

the step of obtaining the 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 comprises the following steps:

determining a signal quality level corresponding to the communication link transmission requirement according to the communication link transmission requirement; the method comprises the steps of,

Determining the areas of k signal warning fences of each horizontal layer corresponding to the signal quality level required by the transmission of the communication link according to the signal quality level required by the transmission of the communication link, 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 level required by the communication link transmission and the maximum tolerance area.

2. The method according to claim 1, wherein in the process of generating the three-dimensional warning fence by the signal warning fence making platform, the determining signal coverage information of at least one horizontal layer with a preset height according to the position information of each base station and the base station parameter information further comprises:

obtaining actual measurement 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 at least one signal coverage information of the horizontal layer at the preset height.

3. The method according to claim 1, wherein the method further comprises:

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

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

4. The method of claim 1, wherein the three-dimensional warning fence of the flight target area comprises a signal warning fence of at least one signal quality level.

5. A method of flight adjustment, the method being applied to a drone, the method comprising:

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 1-4;

and adjusting the flight route according to the flyable area.

6. The method of claim 5, wherein said adjusting a flight path based on said flyable zone comprises:

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

7. The method of claim 5, wherein a preset distance threshold is determined based on a speed of flight of the drone and a delay time of the communication link.

8. A routing apparatus, the apparatus comprising:

the acquisition module is further used for acquiring the three-dimensional warning fence of the flight target area from the signal warning fence manufacturing platform according to the flight target area; wherein, three-dimensional warning rail is by signal warning rail preparation platform obtains through following step:

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 transmitting module is used for transmitting the flight signal warning fence of the unmanned aerial vehicle in the flight target area to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to navigate according to the flight signal warning fence;

the fence customizing module is specifically configured to determine a signal quality level corresponding to the communication link transmission requirement according to the communication link transmission requirement; the method comprises the steps of,

9. A flight adjustment device, the device comprising:

a receiving module, configured to receive a flight fence sent by the routing platform, where the flight fence includes a flight signal warning fence and a no-fly zone, where the flight signal warning fence is obtained according to the routing method according to any one of claims 1-4;

10. A routing apparatus, the apparatus comprising: a processor and a memory storing computer program instructions;

the processor reads and executes the computer program instructions to implement the routing method of any one of claims 1 to 4 or the flight adjustment method of any one of claims 5 to 7.

11. A computer storage medium having stored thereon computer program instructions which, when executed by a processor, implement a method of route planning according to any one of claims 1 to 4 or a method of flight adjustment according to any one of claims 5 to 7.