Sky-ground integrated command and dispatch platform and dispatch method based on patrol scene

Abstract

The present application provides a sky-ground integrated command and dispatch platform and dispatch method based on patrol scenes, which belongs to the field of communication technology and is used to improve the flight control stability of drones when patrolling construction sites. The method includes: the command and dispatch platform obtains the signal quality of the engineering area from the operator network, and the signal quality of the engineering area is the quality of the signal provided by the ground network located in the engineering area in the operator network; the command and dispatch platform determines the low-signal area on the patrol flight route of the drone in the engineering area according to the patrol flight route of the drone and the signal quality of the engineering area; the command and dispatch platform configures the drone to adopt a dual connection mode in the low-signal area according to the location distribution of the low-signal area, and the dual connection mode means that the drone simultaneously establishes a connection with at least two of the ground access network equipment, the air access network equipment, or the satellite access network equipment.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to an integrated sky-ground command and dispatch platform and dispatch method based on patrol scenarios. Background Art

[0002] With the rapid development of urban construction, the safety management of construction sites has become increasingly important. In order to ensure the safety and quality of construction sites, drone technology is widely used in the inspection and monitoring of construction sites.

[0003] Drone technology is an emerging technology that can conduct all-round inspections and monitoring of construction sites by remote control or autonomous flight without human operation. Drones have the advantages of high-altitude viewing angles, rapid response, and flexible maneuverability, which can effectively improve the safety management level of construction sites. In the application of drone technology, drone flight control, image recognition, data transmission and other technologies are key. Drones need to be equipped with high-precision navigation systems and sensors to ensure their stable and safe flight. At the same time, drones also need to have high-definition cameras and image processing technology to accurately identify and analyze construction sites. In addition, drone technology also needs to be combined with other technologies to achieve more efficient construction site management. For example, drones can be combined with cloud computing, big data and other technologies to achieve real-time collection, analysis and processing of construction data, thereby improving the management efficiency and quality of construction sites.

[0004] However, due to the complex environment and imperfect infrastructure of the construction site, the requirements for the flight control stability of the UAV are higher. Therefore, how to improve the flight control stability of the UAV when inspecting the construction site is a problem that needs to be solved. Summary of the invention

[0005] The embodiments of the present application provide an air-ground integrated command and dispatch platform and a dispatch method based on an inspection scenario, so as to improve the flight control stability of a UAV when inspecting a construction site.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, a sky-ground integrated command and dispatch method based on an inspection scenario is provided, which is applied to a command and dispatch platform, and the method includes: the command and dispatch platform obtains the signal quality of the engineering area from the operator network, and the signal quality of the engineering area is the quality of the signal provided by the ground network in the operator network located in the engineering area; the command and dispatch platform determines the low-signal area on the inspection flight route of the UAV in the engineering area according to the inspection flight route of the UAV and the signal quality of the engineering area, wherein the inspection flight route of the UAV is a flight route set for inspecting the engineering area; the command and dispatch platform configures the UAV to adopt a dual connection mode in the low-signal area according to the location distribution of the low-signal area, and the dual connection mode means that the UAV simultaneously establishes connections with at least two of the ground access network equipment, the air access network equipment, or the satellite access network equipment, and the service cells of the ground access network equipment, the air access network equipment, and the satellite access network equipment all cover the low-signal area.

[0008] Optionally, the command and dispatch platform obtains the signal quality of the engineering area from the operator network, including: the command and dispatch platform sends relevant information of the engineering area to the operator network by requesting the operator network to open network capabilities, the relevant information of the engineering area includes the latitude and longitude information of the engineering area, and the altitude level information of the engineering area, the altitude level information of the engineering area is used to indicate multiple different altitudes, and the multiple altitudes are the altitudes at which the UAV flies; the command and dispatch platform receives the signal quality of the engineering area returned by the operator network in response to the request of the command and dispatch platform, wherein the signal quality of the engineering area is specifically the signal quality of the engineering area at each of the multiple altitudes.

[0009] Optionally, the command and dispatch platform sends relevant information of the engineering area to the operator network by requesting the operator network to open the network capability, including: the command and dispatch platform, as a third-party application function, sends a network capability opening request to the operator network, wherein the network capability opening request includes relevant information of the engineering area, and the network capability opening request also includes a request cell for requesting to open signal quality, an indication cell for indicating the granularity of the signal quality opening, and information of the opening time period; accordingly, the operator network grids the engineering area into M*N grids according to the granularity of the signal quality opening indicated by the indication cell, M and N are integers greater than 1, and the values ​​of M and N satisfy: the finer the granularity of the signal quality indicated by the indication element, the larger the values ​​of M and N; the multiple heights are K heights, K is an integer greater than 1, the signal quality of the engineering area at each height in the multiple heights is included in the open time period, the signal quality of the engineering area at the i-th height, i traverses 1 to K, the engineering area is gridded into M*N grids at the i-th height, the signal quality of the engineering area at the i-th height is specifically included in the open time period, the signal quality of each grid in the M*N grids of the engineering area at the i-th height.

[0010] Optionally, the granularity of the signal quality openness indicated by the indication cell is applicable to K heights; or, there are K granularities of the signal quality openness indicated by the indication cell that are at least partially different, and the granularity of the i-th signal quality openness among the K signal quality openness granularities is applicable to the i-th height among the K heights, on this basis, the engineering area is gridded into M*N grids at the i-th height, specifically, the engineering area is gridded into Mi*Ni grids at the i-th height, and the number of grids gridded in the engineering area at different heights is different; wherein, i traverses 1 to K, and the granularity of the i-th signal quality openness among the K signal quality openness granularities satisfies the following relationship: the granularity first changes from coarse granularity to fine granularity, and then from fine granularity to coarse granularity, or the granularity first changes from fine granularity to coarse granularity, and then from coarse granularity to fine granularity.

[0011] Optionally, the command and dispatch platform determines the low-signal area on the patrol flight route of the UAV in the engineering area based on the patrol flight route of the UAV and the signal quality of the engineering area, including: the command and dispatch platform determines the grid set #j at the j-th height among the P heights through which the patrol flight route of the UAV passes based on the P heights among the K heights through which the patrol flight route of the UAV passes and the signal quality of the engineering area, where P is an integer greater than or equal to 1 and less than or equal to K, and j traverses 1 to P; the command and dispatch platform determines the grid subset #j whose signal quality is less than the signal quality threshold from the grid set #j, and when j traverses 1 to P, there are a total of P grid subsets, wherein the P grid subsets are the low-signal areas on the patrol flight route of the UAV in the engineering area, and each grid subset in the P grid subsets is the low-signal area of ​​the patrol flight route of the UAV at a height corresponding to the grid subset.

[0012] Optionally, the command and dispatch platform configures the UAV to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area, including: for the jth height among P heights, j traverses 1 to P, and the command and dispatch platform determines whether the location distribution of multiple grids in grid subset #j is discrete or concentrated; if the location distribution of multiple grids in grid subset #j is discrete, then the UAV is configured to establish connections with the ground access network device and the satellite access network device at the same time during the time period passing through grid subset #j; if the location distribution of multiple grids in grid subset #j is concentrated, then the UAV is configured to establish connections with the ground access network device and the air access network device at the same time during the time period passing through grid subset #j.

[0013] Optionally, the command and dispatch platform determines whether the position distribution of multiple grids in grid subset #j is discrete or concentrated, including: the command and dispatch platform clusters the multiple grids according to the position distribution of the multiple grids in grid subset #j; if the multiple grids are clustered to obtain multiple clusters, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in grid subset #j is discrete; if the multiple grids are clustered to obtain one cluster, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in grid subset #j is concentrated.

[0014] Optionally, the command and dispatch platform configures the UAV to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area, including: the command and dispatch platform fuses P grid subsets in the height direction to obtain a grid collection; the command and dispatch platform determines whether the location distribution of multiple grids in the grid collection is discrete or concentrated; if the location distribution of multiple grids in the grid collection is discrete, the UAV is configured to establish a connection with the ground access network equipment and the satellite access network equipment at the same time within the distribution area of ​​the grid collection, and the distribution area of ​​the grid collection is a complete area covering the grid collection; if the location distribution of multiple grids in the grid collection is concentrated, the UAV is configured to establish a connection with the ground access network equipment and the air access network equipment at the same time within the distribution area of ​​the grid collection.

[0015] Optionally, the command and dispatch platform determines whether the position distribution of multiple grids in the grid collection is discrete or concentrated, including: the command and dispatch platform clusters the multiple grids according to the position distribution of the multiple grids in the grid collection; if the multiple grids are clustered to obtain multiple clusters, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in the grid collection is discrete; if the multiple grids are clustered to obtain one cluster, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in the grid collection is concentrated.

[0016] On the second aspect, a ground-air integrated command and dispatch platform based on patrol scenarios is provided, and the command and dispatch platform is configured as follows: the command and dispatch platform obtains the signal quality of the engineering area from the operator network, and the signal quality of the engineering area is the quality of the signal provided by the ground network in the operator network located in the engineering area; the command and dispatch platform determines the low-signal area on the patrol flight route of the UAV in the engineering area based on the patrol flight route of the UAV and the signal quality of the engineering area, wherein the patrol flight route of the UAV is a flight route set for patrolling the engineering area; the command and dispatch platform configures the UAV to adopt a dual connection mode in the low-signal area according to the location distribution of the low-signal area, and the dual connection mode means that the UAV simultaneously establishes connections with at least two of the ground access network equipment, the air access network equipment, or the satellite access network equipment, and the service cells of the ground access network equipment, the air access network equipment, and the satellite access network equipment all cover the low-signal area.

[0017] Optionally, the command and dispatch platform obtains the signal quality of the engineering area from the operator network, including: the command and dispatch platform sends relevant information of the engineering area to the operator network by requesting the operator network to open network capabilities, the relevant information of the engineering area includes the latitude and longitude information of the engineering area, and the altitude level information of the engineering area, the altitude level information of the engineering area is used to indicate multiple different altitudes, and the multiple altitudes are the altitudes at which the UAV flies; the command and dispatch platform receives the signal quality of the engineering area returned by the operator network in response to the request of the command and dispatch platform, wherein the signal quality of the engineering area is specifically the signal quality of the engineering area at each of the multiple altitudes.

[0018] Optionally, the command and dispatch platform sends relevant information of the engineering area to the operator network by requesting the operator network to open the network capability, including: the command and dispatch platform, as a third-party application function, sends a network capability opening request to the operator network, wherein the network capability opening request includes relevant information of the engineering area, and the network capability opening request also includes a request cell for requesting to open signal quality, an indication cell for indicating the granularity of the signal quality opening, and information of the opening time period; accordingly, the operator network grids the engineering area into M*N grids according to the granularity of the signal quality opening indicated by the indication cell, M and N are integers greater than 1, and the values ​​of M and N satisfy: the finer the granularity of the signal quality indicated by the indication element, the larger the values ​​of M and N; the multiple heights are K heights, K is an integer greater than 1, the signal quality of the engineering area at each height in the multiple heights is included in the open time period, the signal quality of the engineering area at the i-th height, i traverses 1 to K, the engineering area is gridded into M*N grids at the i-th height, the signal quality of the engineering area at the i-th height is specifically included in the open time period, the signal quality of each grid in the M*N grids of the engineering area at the i-th height.

[0019] Optionally, the granularity of the signal quality openness indicated by the indication cell is applicable to K heights; or, there are K granularities of the signal quality openness indicated by the indication cell that are at least partially different, and the granularity of the i-th signal quality openness among the K signal quality openness granularities is applicable to the i-th height among the K heights, on this basis, the engineering area is gridded into M*N grids at the i-th height, specifically, the engineering area is gridded into Mi*Ni grids at the i-th height, and the number of grids gridded in the engineering area at different heights is different; wherein, i traverses 1 to K, and the granularity of the i-th signal quality openness among the K signal quality openness granularities satisfies the following relationship: the granularity first changes from coarse granularity to fine granularity, and then from fine granularity to coarse granularity, or the granularity first changes from fine granularity to coarse granularity, and then from coarse granularity to fine granularity.

[0020] Optionally, the command and dispatch platform determines the low-signal area on the patrol flight route of the UAV in the engineering area based on the patrol flight route of the UAV and the signal quality of the engineering area, including: the command and dispatch platform determines the grid set #j at the j-th height among the P heights through which the patrol flight route of the UAV passes based on the P heights among the K heights through which the patrol flight route of the UAV passes and the signal quality of the engineering area, where P is an integer greater than or equal to 1 and less than or equal to K, and j traverses 1 to P; the command and dispatch platform determines the grid subset #j whose signal quality is less than the signal quality threshold from the grid set #j, and when j traverses 1 to P, there are a total of P grid subsets, wherein the P grid subsets are the low-signal areas on the patrol flight route of the UAV in the engineering area, and each grid subset in the P grid subsets is the low-signal area of ​​the patrol flight route of the UAV at a height corresponding to the grid subset.

[0021] Optionally, the command and dispatch platform configures the UAV to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area, including: for the jth height among P heights, j traverses 1 to P, and the command and dispatch platform determines whether the location distribution of multiple grids in grid subset #j is discrete or concentrated; if the location distribution of multiple grids in grid subset #j is discrete, then the UAV is configured to establish connections with the ground access network device and the satellite access network device at the same time during the time period passing through grid subset #j; if the location distribution of multiple grids in grid subset #j is concentrated, then the UAV is configured to establish connections with the ground access network device and the air access network device at the same time during the time period passing through grid subset #j.

[0022] Optionally, the command and dispatch platform determines whether the position distribution of multiple grids in grid subset #j is discrete or concentrated, including: the command and dispatch platform clusters the multiple grids according to the position distribution of the multiple grids in grid subset #j; if the multiple grids are clustered to obtain multiple clusters, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in grid subset #j is discrete; if the multiple grids are clustered to obtain one cluster, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in grid subset #j is concentrated.

[0023] Optionally, the command and dispatch platform configures the UAV to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area, including: the command and dispatch platform fuses P grid subsets in the height direction to obtain a grid collection; the command and dispatch platform determines whether the location distribution of multiple grids in the grid collection is discrete or concentrated; if the location distribution of multiple grids in the grid collection is discrete, the UAV is configured to establish a connection with the ground access network equipment and the satellite access network equipment at the same time within the distribution area of ​​the grid collection, and the distribution area of ​​the grid collection is a complete area covering the grid collection; if the location distribution of multiple grids in the grid collection is concentrated, the UAV is configured to establish a connection with the ground access network equipment and the air access network equipment at the same time within the distribution area of ​​the grid collection.

[0024] Optionally, the command and dispatch platform determines whether the position distribution of multiple grids in the grid collection is discrete or concentrated, including: the command and dispatch platform clusters the multiple grids according to the position distribution of the multiple grids in the grid collection; if the multiple grids are clustered to obtain multiple clusters, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in the grid collection is discrete; if the multiple grids are clustered to obtain one cluster, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, then the command and dispatch platform determines that the position distribution of the multiple grids in the grid collection is concentrated.

[0025] In summary, the above method and system have the following technical effects:

[0026] When the command and dispatch platform obtains the signal quality of the engineering area from the operator network, it can determine the low-signal area on the UAV's patrol flight route in the engineering area based on the UAV's patrol flight route and the signal quality of the engineering area. In this way, the UAV can be configured to adopt a dual connection mode in the low-signal area, such as the UAV simultaneously establishing connections with at least two of the ground access network equipment, the air access network equipment, or the satellite access network equipment, so as to improve the stability of data transmission through dual connection, thereby improving the stability of UAV control through more stable data transmission, thereby improving the flight control stability of the UAV when inspecting the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the architecture of a 5G mobile communication system;

[0028] Figure 2 A schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0029] Figure 3 A flowchart of the sky-ground integrated command and dispatch method based on the patrol scene provided in the embodiment of the present application;

[0030] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] 1. Fifth generation (5G) mobile communication system:

[0032] Figure 1 is a schematic diagram of the architecture of the 5G system, such as Figure 1 As shown, the 5G system includes: an access network (AN) and a core network (CN), and may also include: terminals.

[0033] The terminal may be a terminal with transceiver functions, or a chip or chip system that can be set in the terminal. The terminal may also be called user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent or user device. The terminal in the embodiments of the present application can be a mobile phone, a cellular phone, a smart phone, a tablet computer, a wireless data card, a personal digital assistant (PDA), a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle-mounted terminal, a road side unit (RSU) with terminal function, etc. The terminal of the present application may also be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit built into the vehicle as one or more components or units.

[0034] The above AN is used to implement access-related functions, can provide network access functions for authorized users in a specific area, and can determine transmission links of different qualities to transmit user data according to the user level, business requirements, etc. AN forwards control signals and user data between the terminal and CN. AN can include: access network equipment, also known as radio access network equipment (RAN) equipment.

[0035] RAN equipment can be equipment that provides access to terminals. For example, RAN equipment can include: RAN equipment can also include 5G, such as gNB in ​​a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a base station in 5G, or it can also be a network node constituting a gNB, a transmission point (TRP or transmission point, TP) or a transmission measurement function (TMF), such as a baseband unit (building base band unit, BBU), or a centralized unit (CU) or a distributed unit (DU), an RSU with base station function, or a wired access gateway, or a core network element of 5G. Alternatively, RAN equipment can also include an access point (AP) in a wireless fidelity (WiFi) system, a wireless relay node, a wireless backhaul node, various forms of macro base stations, micro base stations (also called small stations), relay stations, access points, wearable devices, vehicle-mounted devices, and the like. Alternatively, the RAN device may also include a next-generation mobile communication system, such as a 6G access network device, such as a 6G base station, or in the next-generation mobile communication system, the network device may also have other naming methods, which are all covered within the protection scope of the embodiments of the present application, and the present application does not impose any limitations on this.

[0036] CN is mainly responsible for maintaining the subscription data of the mobile network and providing functions such as session management, mobility management, policy management and security authentication for terminals. CN mainly includes the following network elements: user plane function (UPF) network element, authentication server function (AUSF) network element, access and mobility management function (AMF) network element, session management function (SMF) network element, network slice selection function (NSSF) network element, network exposure function (NEF) network element, network function repository function (NF repository function, NRF) network element, policy control function (PCF) network element, unified data management (UDM) network element, application function (AF) network element, and network slice-specific and SNPN authentication and authorization function (NSSAAF) network element.

[0037] Among them, the UPF network element is mainly responsible for user data processing (forwarding, receiving, billing, etc.). For example, the UPF network element can receive user data from the data network (DN) and forward the user data to the terminal through the access network device. The UPF network element can also receive user data from the terminal through the access network device and forward the user data to the DN. The DN network element refers to the operator network that provides data transmission services to users. For example, Internet Protocol (IP) Multimedia Service (IMS), Internet, etc.

[0038] The AUSF network element can be used to perform terminal security authentication.

[0039] The AMF network element is mainly responsible for mobility management in the mobile network, such as user location update, user registration network, user switching, etc.

[0040] The SMF network element is mainly responsible for session management in the mobile network, such as session establishment, modification, and release. Specific functions include allocating Internet Protocol (IP) addresses to users and selecting UPFs that provide message forwarding functions.

[0041] The PCF network element mainly supports providing a unified policy framework to control network behavior, provides policy rules to the control layer network functions, and is responsible for obtaining user subscription information related to policy decisions. The PCF network element can provide policies to the AMF network element and SMF network element, such as quality of service (QoS) policy and slice selection policy.

[0042] The NSSF network element can be used to select a network slice for a terminal.

[0043] NEF network elements can be used to support the opening of capabilities and events.

[0044] UDM network elements can be used to store user data, such as subscription data, authentication / authorization data, etc.

[0045] The AF network element mainly supports interaction with the CN to provide services, such as influencing data routing decisions, policy control functions, or providing some third-party services to the network side.

[0046] The present application will present various aspects, embodiments or features around a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. In addition, combinations of these schemes may also be used.

[0047] In addition, in the embodiments of the present application, words such as "exemplary" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a concrete way.

[0048] In the embodiments of the present application, "information", "signal", "message", "channel" and "signaling" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are matched. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are matched. In addition, the " / " mentioned in the present application can be used to express an "or" relationship.

[0049] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0050] To facilitate understanding of the embodiments of the present application, first Figure 2 The communication system shown in the figure is used as an example to describe in detail the communication system applicable to the embodiments of the present application.

[0051] Figure 2 A schematic diagram of the architecture of a communication system to which the method provided in the embodiment of the present application is applicable. Figure 2 As shown, the control system includes: a command and dispatch platform and an operator network.

[0052] The command and dispatch platform can provide application-related services, which can also be called AF, such as the third-party AF in the above-mentioned 5GS.

[0053] The operator network may be the AN+CN in the above-mentioned 5GS, and the operator network referred to below in the embodiments of the present application may be a network element in the AN / CN.

[0054] For ease of understanding, the following will combine Figure 3 The embodiment of the present application provides a specific description of the sky-ground integrated command and dispatch method based on the patrol scenario.

[0055] For example, Figure 3 The flowchart of the sky-ground integrated command and dispatch platform and dispatch method based on the patrol scene provided in the embodiment of the present application is as follows. The sky-ground integrated command and dispatch platform and dispatch method based on the patrol scene are executed by the command and dispatch platform

[0056] The process is as follows:

[0057] S301, the command and dispatch platform obtains the signal quality of the engineering area from the operator network.

[0058] The signal quality of the engineering area is the quality of the signal provided by the ground network in the operator's network located in the engineering area, that is, the signal provided by the ground base station (such as gNB).

[0059] The command and dispatch platform can send relevant information about the project area to the operator network by requesting the operator network to open network capabilities. For example, the relevant information about the project area may include the latitude and longitude information of the project area, as well as the altitude level information of the project area. The altitude level information of the project area can be used to indicate multiple different altitudes, which are the altitudes at which drones fly. That is, the route of drone inspection can choose multiple designated altitudes, rather than randomly selecting or manually controlling them. This can prevent the flight of drones from affecting or even harming the construction.

[0060] Specifically, the command and dispatch platform, as a third-party application function (AF), can send a network capability opening request to the operator network (such as the NEF network element in the operator network). The network capability opening request may include relevant information about the project area, and the network capability opening request may also include a request element for requesting the opening of signal quality, an indication element for indicating the granularity of the signal quality opening, and information about the opening time period. The element in the network capability opening request can be delivered to the access network device whose service cell covers the project area in the operator network.

[0061] The operator network (such as access network equipment) can grid the engineering area into M*N grids according to the granularity of the signal quality open indicated by the indication cell. M and N are integers greater than 1, and the values ​​of M and N satisfy: if the granularity of the signal quality open indicated by the indication cell is finer, the values ​​of M and N are larger. Specifically, the multiple heights are K heights, K is an integer greater than 1, and the granularity of the signal quality open indicated by the indication cell is applicable to K heights, that is, the granularity of the signal quality open at K heights is the same. Alternatively, the granularity of the signal quality open indicated by the indication cell is at least partially different K, and the granularity of the i-th signal quality open among the K signal quality open granularities is applicable to the i-th height among the K heights. On this basis, the engineering area is gridded into M*N grids at the i-th height, specifically, the engineering area is gridded into Mi*Ni grids at the i-th height, and the number of grids gridded in the engineering area at different heights is different. For example, i traverses from 1 to K, and the granularity of the i-th signal quality openness among the K signal quality openness satisfies the following relationship: the granularity first changes from coarse granularity to fine granularity, and then from fine granularity to coarse granularity, or the granularity first changes from fine granularity to coarse granularity, and then from coarse granularity to fine granularity. In other words, since the inspection methods of drones can be roughly divided into two types, one is the inspection mainly at lower altitudes and higher altitudes, then the granularity can first change from fine granularity to coarse granularity, and then from coarse granularity to fine granularity, that is, the grids at lower altitudes and higher altitudes are relatively fine, and the measurement of signal quality can be more accurate. The other is the inspection mainly at medium altitudes, then the granularity can first change from coarse granularity to fine granularity, and then from fine granularity to coarse granularity, that is, the grids at medium altitudes are relatively fine, and the measurement of signal quality can be more accurate.

[0062] Correspondingly, the access network device can traverse i from 1 to K according to the above information, and perform targeted signal measurements, such as indicating that the terminal located in the corresponding grid at the corresponding height feeds back the signal strength of its location, that is, the signal quality. The access network device can take the weighted average of the signal qualities returned by all terminals located in the same grid at the same height as the signal quality of the grid at the height. In this way, the access network device can measure the signal quality of the engineering area, such as the signal quality of the engineering area at each of the multiple heights. The signal quality of the engineering area at each of the multiple heights is specifically the signal quality of the engineering area at the i-th height during the open time period, i traverses 1 to K, more specifically the signal quality of each of the M*N grids at the i-th height of the engineering area during the open time period. The access network device can return the signal quality of the engineering area at each of the multiple heights to the NEF network element.

[0063] S302, the command and dispatch platform determines the low signal area on the inspection flight route of the UAV in the engineering area according to the inspection flight route of the UAV and the signal quality of the engineering area.

[0064] Among them, the drone's inspection flight route is a flight route set for the inspection project area.

[0065] The command and dispatch platform can determine the grid set #j where the inspection flight route of the drone passes through the jth height among the P heights, based on the P heights among the K heights passed by the inspection flight route of the drone and the signal quality of the engineering area, where P is an integer greater than or equal to 1 and less than or equal to K, and j traverses from 1 to P. The command and dispatch platform can determine the grid subset #j whose signal quality is less than the signal quality threshold from the grid set #j, and when j traverses from 1 to P, there are a total of P grid subsets, wherein the P grid subsets are the low signal areas on the inspection flight route of the drone in the engineering area, and each grid subset in the P grid subsets is the low signal area of ​​the inspection flight route of the drone at a height corresponding to the grid subset.

[0066] S303, the command and dispatch platform configures the drone to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area.

[0067] Dual connection mode means that the drone acts as a terminal (or a user, a SIM card) and establishes connections (3GPP access connections) with at least two of the ground access network equipment, air access network equipment (such as high-altitude drones, high-altitude balloons, etc.), or satellite access network equipment (such as low-orbit / medium-orbit satellites). The service cells of the ground access network equipment, air access network equipment, and satellite access network equipment all cover low-signal areas.

[0068] Method 1:

[0069] For the jth height among P heights, j traverses from 1 to P, and the command and dispatch platform determines whether the position distribution of multiple grids in grid subset #j is discrete or concentrated. For example, the command and dispatch platform can cluster multiple grids according to the position distribution of multiple grids in grid subset #j (a conventional clustering algorithm can be used to cluster each grid as a point). If multiple grids are clustered to obtain multiple clusters, or multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, the command and dispatch platform determines that the position distribution of multiple grids in grid subset #j is discrete. If multiple grids are clustered to obtain one cluster, or multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, the command and dispatch platform determines that the position distribution of multiple grids in grid subset #j is concentrated.

[0070] On this basis, if the positions of multiple grids in grid subset #j are distributed discretely, the drone is configured to establish connections with the ground access network device and the satellite access network device at the same time during the time period when it passes through grid subset #j (for example, the time period when the drone passes through grid subset #j can be calculated based on the time when the drone starts patrolling and the drone flies at a preset speed). The service cell of the satellite access network device is large, and one service cell can basically cover a discrete area. In this way, the drone does not need to switch cells to reduce overhead. If the positions of multiple grids in grid subset #j are distributed concentratedly, the drone is configured to establish connections with the ground access network device and the air access network device at the same time during the time period when it passes through grid subset #j, so as to obtain a higher communication rate through the air access network device. That is, method 1 is to determine the corresponding low signal area at each altitude, and then configure it to establish dual connections in a time-passing manner.

[0071] Method 2:

[0072] The command and dispatch platform can merge P grid subsets in the height direction to obtain a grid collection. For example, taking the case where the granularity of grids at different heights is the same, among the P grid subsets, grid subset #1 at height H1 includes grid #1, grid #2, and grid #3, and grid subset #2 at height H2 includes grid #3, grid #4, and grid #5. The numbers of the grids in different grid subsets, such as grid #X, are the same, such as grid #2 in grid subset #1 and grid #2 in grid subset #2, which means that they are grids at different heights above the same physical location. In this way, grids at different heights above the same physical position are fused, and grid #3 at height H1 and grid #3 at height H2 are regarded as one grid, that is, grid #3 at height H1 and height H2, and the grid collection is grid #1, grid #2, grid #3, grid #4, and grid #5. That is, the low-signal area is fused in the vertical direction of space, so that the low-signal area does not distinguish between heights, but is a low-signal area at the entire height. This can greatly improve the control redundancy and thus ensure the stability of flight control.

[0073] In this way, the command and dispatch platform can determine whether the position distribution of multiple grids in the grid collection is discrete or concentrated. Among them, the command and dispatch platform determines whether the position distribution of multiple grids in the grid collection is discrete or concentrated, including: the command and dispatch platform clusters multiple grids according to the position distribution of multiple grids in the grid collection; if multiple grids are clustered to obtain multiple clusters, or multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, then the command and dispatch platform determines that the position distribution of multiple grids in the grid collection is discrete; if multiple grids are clustered to obtain one cluster, or multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, then the command and dispatch platform determines that the position distribution of multiple grids in the grid collection is concentrated. If the position distribution of multiple grids in the grid collection is discrete, the drone is configured to establish a connection with the ground access network device and the satellite access network device at the same time in the distribution area of ​​the grid collection, and the distribution area of ​​the grid collection is a complete area covering the grid collection; if the position distribution of multiple grids in the grid collection is concentrated, the drone is configured to establish a connection with the ground access network device and the air access network device at the same time in the distribution area of ​​the grid collection. In other words, unlike method 1, since method 2 performs vertical spatial fusion, it can be configured to establish dual connections in a position-based manner, that is, regardless of height, as long as the position mapped to the ground enters a low-signal area, a dual connection is established.

[0074] In summary, when the command and dispatch platform obtains the signal quality of the engineering area from the operator network, it can determine the low-signal area on the UAV's patrol flight route in the engineering area based on the UAV's patrol flight route and the signal quality of the engineering area. In this way, the UAV can be configured to adopt a dual connection mode in the low-signal area, such as the UAV simultaneously establishing connections with at least two of the ground access network equipment, the air access network equipment, or the satellite access network equipment, so as to improve the stability of data transmission through dual connections, thereby improving the stability of UAV control through more stable data transmission, thereby improving the flight control stability of the UAV when inspecting the construction site.

[0075] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. For example, the electronic device may be a terminal device, or a chip (system) or other component or assembly that can be provided in the terminal device. Figure 4 As shown, the electronic device 400 may include a processor 401. Optionally, the electronic device 400 may also include a memory 402 and / or a transceiver 403. The processor 401 is coupled to the memory 402 and the transceiver 403, such as being connected via a communication bus. In addition, the electronic device 400 may also be a chip, such as including the processor 401, in which case the transceiver may be an output and input interface of the chip.

[0076] Combine the following Figure 4 The components of the electronic device 400 are specifically introduced as follows:

[0077] The processor 401 is the control center of the electronic device 400, and may be a processor or a general term for multiple processing elements. For example, the processor 401 is one or more central processing units (CPUs), or may be application specific integrated circuits (ASICs), or may be configured to implement one or more integrated circuits of the embodiments of the present application, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (FPGAs).

[0078] Optionally, the processor 401 can execute various functions of the electronic device 400 by running or executing the software program stored in the memory 402 and calling the data stored in the memory 402, such as executing the above Figure 3 The shown is an integrated sky-ground command and dispatch method based on patrol scenarios.

[0079] In a specific implementation, as an embodiment, the processor 401 may include one or more CPUs, such as Figure 4 CPU0 and CPU1 are shown in FIG.

[0080] In a specific implementation, as an embodiment, the electronic device 400 may also include multiple processors. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer programs or instructions).

[0081] The memory 402 is used to store the software program for executing the solution of the present application, and the execution is controlled by the processor 401. The specific implementation method can refer to the above method embodiment, which will not be repeated here.

[0082] Optionally, the memory 402 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 402 may be integrated with the processor 401, or may exist independently and access the computer through the interface circuit ( Figure 4 (not shown) is coupled to the processor 401, which is not specifically limited in the embodiment of the present application.

[0083] The transceiver 403 is used for communication with other electronic devices. For example, if the electronic device 400 is a terminal device, the transceiver 403 can be used to communicate with a network device, or with another terminal device. For another example, if the electronic device 400 is a network device, the transceiver 403 can be used to communicate with a terminal device, or with another network device.

[0084] Optionally, the transceiver 403 may include a receiver and a transmitter ( Figure 4 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0085] Optionally, the transceiver 403 may be integrated with the processor 401, or may exist independently and communicate with the electronic device 400 through an interface circuit ( Figure 4 (not shown) is coupled to the processor 401, which is not specifically limited in the embodiment of the present application.

[0086] Understandably, Figure 4 The structure of the electronic device 400 shown in the figure does not constitute a limitation on the electronic device, and the actual electronic device may include more or fewer components than those shown in the figure, or combine certain components, or arrange the components differently.

[0087] In addition, the technical effects of the electronic device 400 can refer to the technical effects of the methods described in the above method embodiments, which will not be repeated here.

[0088] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0089] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0090] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program or instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instruction can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0091] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0092] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0093] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0094] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0095] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0096] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0097] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0098] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0099] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0100] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A sky-ground integrated command and dispatch method based on patrol scenes, characterized in that: Applied to the command and dispatch platform, the method includes: The command and dispatch platform obtains the signal quality of the engineering area from the operator network, where the signal quality of the engineering area is the quality of the signal provided by the ground network in the operator network located in the engineering area; The command and dispatch platform determines a low signal area in the engineering area that is located on the inspection flight route of the drone according to the inspection flight route of the drone and the signal quality of the engineering area, wherein the inspection flight route of the drone is a flight route set for inspecting the engineering area; The command and dispatch platform configures the UAV to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area, wherein the dual connection mode means that the UAV simultaneously establishes connections with at least two of a ground access network device, an air access network device, or a satellite access network device, and the service cells of the ground access network device, the air access network device, and the satellite access network device all cover the low signal area; The command and dispatch platform obtains the signal quality in the engineering area from the operator network, including: The command and dispatch platform sends the relevant information of the project area to the operator network by requesting the operator network to open network capabilities, wherein the relevant information of the project area includes the latitude and longitude information of the project area and the altitude level information of the project area, and the altitude level information of the project area is used to indicate multiple different altitudes, and the multiple altitudes are the altitudes at which the UAV flies; The command and dispatch platform receives the signal quality of the engineering area returned by the operator network in response to the request of the command and dispatch platform, wherein the signal quality of the engineering area is specifically the signal quality of the engineering area at each of the multiple heights; The command and dispatch platform sends the relevant information of the project area to the operator network by requesting the operator network to open network capabilities, including: The command and dispatch platform, as a third-party application function, sends a network capability opening request to the operator network, wherein the network capability opening request includes relevant information of the project area, and the network capability opening request also includes a request cell for requesting to open signal quality, an indication cell for indicating the granularity of the signal quality opening, and information of the opening time period; Correspondingly, the operator network grids the engineering area into a plurality of grids according to the granularity of the signal quality opening indicated by the indication cell: if the granularity of the signal quality opening indicated by the indication cell is finer, the number of grids is greater; The multiple heights are K heights, K is an integer greater than 1, and the signal quality of the engineering area at each of the multiple heights is expressed as the signal quality of each grid in the grid of the engineering area at the i-th height during the open time period, where i traverses from 1 to K; The granularity of the signal quality opening indicated by the indication cell is applicable to the K heights; or, the granularity of the signal quality opening indicated by the indication cell is K at least partially different, and the granularity of the i-th signal quality opening among the K signal quality opening granularities is applicable to the i-th height among the K heights, and accordingly, the engineering area is gridded into Mi*Ni grids at the i-th height, i traverses from 1 to K, and the number of grids gridded at different heights of the engineering area is different, and Mi and Ni are integers greater than 1; Among them, when the granularity of signal quality opening at different altitudes is different, the granularity of the K signal quality openings satisfies the following relationship: if the UAV performs inspections mainly at lower altitudes and higher altitudes, the granularity in the height direction first changes from coarse granularity to fine granularity, and then changes from fine granularity to coarse granularity; or if the UAV performs inspections at a medium altitude, the granularity in the height direction first changes from fine granularity to coarse granularity, and then changes from coarse granularity to fine granularity; The command and dispatch platform determines the low signal area on the inspection flight route of the UAV in the engineering area according to the inspection flight route of the UAV and the signal quality of the engineering area, including: The command and dispatch platform determines the grid set #j of the jth height among the P heights that the inspection flight route of the UAV passes through according to the P heights among the K heights that the inspection flight route of the UAV passes through and the signal quality of the engineering area, where P is an integer greater than or equal to 1 and less than or equal to K, and j traverses from 1 to P; The command and dispatch platform determines a grid subset #j whose signal quality is less than a signal quality threshold from the grid set #j. When j traverses from 1 to P, there are a total of P grid subsets, wherein the P grid subsets are low-signal areas on the inspection flight route of the UAV in the engineering area, and each grid subset in the P grid subsets is a low-signal area on the inspection flight route of the UAV at a height corresponding to the grid subset; The command and dispatch platform configures the UAV to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area, including: For the jth height among the P heights, j traverses from 1 to P, the command and dispatch platform determines whether the position distribution of multiple grids in the grid subset #j is discrete or concentrated; If the positions of multiple grids in the grid subset #j are discretely distributed, configuring the UAV to simultaneously establish connections with the ground access network device and the satellite access network device during a time period when the UAV passes through the grid subset #j; If the positions of multiple grids in the grid subset #j are concentrated, the UAV is configured to simultaneously establish connections with the ground access network device and the air access network device during the time period when the UAV passes through the grid subset #j; Alternatively, the command and dispatch platform configures the UAV to adopt a dual connection mode in the low signal area according to the location distribution of the low signal area, including: The command and dispatch platform fuses the P grid subsets in the height direction to obtain a grid collection, wherein the grid collection includes all grids at heights corresponding to positions of each grid in the grid subset mapped to the ground; The command and dispatch platform determines whether the position distribution of multiple grids in the grid collection is discrete or concentrated; If the positions of multiple grids in the grid collection are discretely distributed, the UAV is configured to simultaneously establish connections with the ground access network device and the satellite access network device within a distribution area of ​​the grid collection, and the distribution area of ​​the grid collection is a complete area covering the grid collection; If the positions of multiple grids in the grid set are concentrated, the drone is configured to simultaneously establish connections with the ground access network device and the air access network device within a distribution area of ​​the grid set.

2. The method according to claim 1, characterized in that The command and dispatch platform determines whether the position distribution of multiple grids in the grid subset #j is discrete or concentrated, including: The command and dispatch platform clusters the multiple grids according to the position distribution of the multiple grids in the grid subset #j; If the multiple grids are clustered to obtain multiple clusters, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, the command and dispatch platform determines that the position distribution of the multiple grids in the grid subset #j is discrete; if the multiple grids are clustered to obtain one cluster, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, the command and dispatch platform determines that the position distribution of the multiple grids in the grid subset #j is concentrated.

3. The method according to claim 1, characterized in that: The command and dispatch platform determines whether the position distribution of multiple grids in the grid collection is discrete or concentrated, including: The command and dispatch platform clusters the multiple grids according to the position distribution of the multiple grids in the grid collection; If the multiple grids are clustered to obtain multiple clusters, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is greater than or equal to the number threshold, the command and dispatch platform determines that the position distribution of the multiple grids in the grid collection is discrete; if the multiple grids are clustered to obtain one cluster, or the multiple grids are clustered to obtain one cluster, and the number of isolated points is less than the number threshold, the command and dispatch platform determines that the position distribution of the multiple grids in the grid collection is concentrated.

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