Information visualization method and device based on unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle-based information visualization method and device, and the method comprises the steps: constructing a three-dimensional grid model corresponding to a flight region of an unmanned aerial vehicle, determining a target three-dimensional grid through which a flight route passes from a plurality of three-dimensional grids, obtaining the signal intensity of the unmanned aerial vehicle flying to the target three-dimensional grid based on the flight route, and carrying out the calculation of the signal intensity. And then displaying the visual information in the target three-dimensional grid based on the visual information of the signal intensity. According to the method, related personnel can conveniently optimize the flight path of the unmanned aerial vehicle, so that communication interruption between the unmanned aerial vehicle and the unmanned aerial vehicle operation platform due to weak signals in the flight process of the unmanned aerial vehicle is avoided.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle communication technology, and in particular to an information visualization method and device based on unmanned aerial vehicle. Background Art

[0002] In existing drone communication technologies, during drone patrol operations, it is usually necessary to send drone operation data back to the drone operating platform. If the drone flies to a point or area with a weak signal, the drone operation data may not be sent to the drone operating platform due to weak signals, and the drone operator will not be able to obtain the drone operation data. It may also cause the drone to be unable to receive instructions sent by the drone operating platform due to weak signals, and the drone will be out of the control of the drone operator. Sometimes the drone may even hit an obstacle and be damaged due to yaw. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method and device for information visualization based on drones, so as to facilitate relevant personnel to optimize the flight path of the drone, thereby avoiding the interruption of communication between the drone and the drone operating platform due to weak signals during flight.

[0004] In a first aspect, an embodiment of the present invention provides an information visualization method based on a drone, the method comprising: constructing a three-dimensional grid model corresponding to the flight area of ​​the drone; wherein the three-dimensional grid model comprises a plurality of three-dimensional grids; determining a target three-dimensional grid through which a flight route passes from the plurality of three-dimensional grids; based on the flight route, obtaining a signal strength when the drone flies to the target three-dimensional grid; wherein the signal strength comprises a communication signal strength and / or a positioning signal strength; and displaying the visualization information in the target three-dimensional grid based on the visualization information of the signal strength.

[0005] In a second aspect, an embodiment of the present invention further provides an information visualization device based on a drone, the device comprising: a construction module, used to construct a three-dimensional grid model corresponding to the flight area of ​​the drone; wherein the flight area includes multiple waypoints, and the three-dimensional grid model includes multiple three-dimensional grids; a determination module, used to determine the target three-dimensional grid through which the flight route passes from the multiple three-dimensional grids; an acquisition module, used to acquire the signal strength of the drone flying to the target three-dimensional grid based on the flight route; wherein the signal strength includes communication signal strength and / or positioning signal strength; a display module, used to display the visualization information in the target three-dimensional grid based on the visualization information of the signal strength.

[0006] An embodiment of the present invention provides an information visualization method and device based on a drone. The method first constructs a three-dimensional grid model corresponding to the flight area of ​​the drone, then determines the target three-dimensional grid through which the flight route passes from multiple three-dimensional grids, and obtains the signal strength of the drone flying to the target three-dimensional grid based on the flight route. Then, the visualization information is displayed in the target three-dimensional grid based on the visualization information of the signal strength. Relevant personnel can intuitively know the signal strength distribution of the drone's flight area according to the visualization information of the signal strength in the three-dimensional grid model before the drone patrol operation, and then optimize the drone's flight path during the drone patrol operation to avoid the drone flying to an area with weak signals, thereby avoiding the drone from being interrupted in communication with the drone operating platform due to weak signals during flight, which is beneficial to improving the quality of the drone patrol operation and the safety of the drone flight during the drone patrol operation.

[0007] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0008] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 Schematic diagram of a flow chart of an information visualization method based on a drone in an embodiment of the present invention; Figure 2 This is a structural example diagram of a grid model in an embodiment of the present invention; Figure 3 This is an example diagram of a line segment connecting two target points on the surface of a sphere passing through the center of the sphere in an embodiment of the present invention; Figure 4 This is an example diagram showing that the center point of a triangle formed by three target points on the surface of a sphere and the center of the sphere are located at the same position in an embodiment of the present invention; Figure 5 This is an example diagram showing that the center point of a triangular pyramid formed by connecting four target points on the surface of a sphere and the center of the sphere are located at the same position in an embodiment of the present invention; Figure 6This is an example diagram showing that the center point of an octahedron formed by six target points on the surface of a sphere and the center of the sphere are located at the same position in an embodiment of the present invention; Figure 7 This is an example diagram of a plane display of signal strength distribution information in an embodiment of the present invention; Figure 8 This is an example diagram of a three-dimensional display of signal strength distribution information in an embodiment of the present invention; Fig. 9 This is an example diagram of data interaction of an information visualization method based on a drone in an embodiment of the present invention; Fig.10 Schematic diagram of the structure of an information visualization device based on a drone in an embodiment of the present invention. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0012] At present, in the existing UAV communication technology, if the UAV flies to a point or area with a weak signal, the UAV may lose communication with the UAV operating platform due to the weak signal during the flight. Based on this, the present invention provides a method and device for information visualization based on UAV, which can facilitate relevant personnel to optimize the flight path of the UAV, thereby avoiding the UAV losing communication with the UAV operating platform due to the weak signal during the flight.

[0013] To facilitate understanding of this embodiment, firstly, a method for information visualization based on a drone disclosed in an embodiment of the present invention is described in detail. Figure 1 As shown, the method may include the following steps: Step S102, constructing a three-dimensional grid model corresponding to the flight area of ​​the drone.

[0014] The flight area may include multiple waypoints, and the three-dimensional grid model may include multiple three-dimensional grids.

[0015] The three-dimensional space corresponding to the flight area of ​​the drone can be gridded to obtain a three-dimensional grid model corresponding to the three-dimensional space. In the three-dimensional grid model, each point (such as a vertex, a center point, etc.) on each three-dimensional grid can be a corresponding target point. Figure 2 The structure of the three-dimensional mesh model is shown.

[0016] Step S104, determining a target three-dimensional grid through which the flight route passes from a plurality of three-dimensional grids.

[0017] Step S106, based on the flight route, obtaining the signal strength of the drone flying to the target three-dimensional grid.

[0018] The signal strength may include communication signal strength and / or positioning signal strength.

[0019] Communication signals may include 4G signals, 5G signals, image transmission signals, etc., and positioning signals may include GPS signals, RTK signals, etc. The types of communication signals and positioning signals may be selected according to actual needs, and there is no limitation on this.

[0020] Step S108: displaying the visualization information in the target three-dimensional grid based on the visualization information of the signal strength.

[0021] Among them, the visual information displayed in the target three-dimensional grid can represent the signal strength distribution of the flight area.

[0022] An information visualization method based on a drone is provided in an embodiment of the present invention. The method first constructs a three-dimensional grid model corresponding to the flight area of ​​the drone, then determines the target three-dimensional grid through which the flight route passes from multiple three-dimensional grids, and obtains the signal strength of the drone flying to the target three-dimensional grid based on the flight route. Then, the visualization information is displayed in the target three-dimensional grid based on the visualization information of the signal strength. Relevant personnel can intuitively know the signal strength distribution of the drone's flight area according to the visualization information of the signal strength in the three-dimensional grid model before the drone patrol operation, and then optimize the drone's flight path during the drone patrol operation to avoid the drone flying to an area with weak signals, thereby avoiding the drone from being interrupted in communication with the drone operating platform due to weak signals during flight, which is beneficial to improving the quality of the drone patrol operation and the safety of the drone flight during the drone patrol operation.

[0023] As a possible implementation, the above step S106 (i.e., obtaining the signal strength of the drone flying to the target three-dimensional grid based on the flight route) may include: determining multiple intersections of each target three-dimensional grid that overlap with the flight route; when the drone flies to each intersection, the drone collects the communication signal corresponding to the intersection and measures the communication signal strength corresponding to the intersection; if the communication signal strength corresponding to the intersection is less than or equal to a preset first strength threshold, the drone collects the positioning signal corresponding to the intersection and measures the positioning signal strength corresponding to the intersection; for each target three-dimensional grid, the signal strength corresponding to one of the intersections of the target three-dimensional grid or the average value of the signal strengths corresponding to multiple intersections of the target three-dimensional grid is used as the signal strength corresponding to the target three-dimensional grid.

[0024] Exemplarily, the drone itself is equipped with a controller, and a communication signal module and an RTK signal module can also be installed on the drone. The controller is connected to the communication signal module and the RTK signal module respectively. The communication signal module is used to collect communication signals (such as 4G signals, 5G signals, image transmission signals, etc.), and the RTK signal module is used to collect RTK signals (that is, the positioning signal at this time). Each three-dimensional grid through which the flight route passes has multiple intersections overlapping with the flight route. When the drone flies to the intersection to measure the communication signal strength and / or RTK signal strength (that is, the positioning signal strength at this time), the controller first controls the communication signal module to collect the communication signal on the flight path of the drone. signal, and then measures the strength of the collected communication signal. If the collected communication signal strength is less than or equal to the preset first strength threshold, it means that the communication signal is weak, and the controller switches to the RTK signal module to control the RTK signal module to collect the RTK signal on the UAV flight path, and measures the strength of the collected RTK signal; for each three-dimensional grid passed by the flight route, an intersection of the three-dimensional grid can be selected and the signal strength collected by the UAV at the intersection can be used as the signal strength of the three-dimensional grid, or several intersections of the three-dimensional grid can be selected and the average value of the signal strength collected by the UAV at these intersections can be used as the signal strength of the three-dimensional grid.

[0025] As a possible implementation, the drone-based information visualization method may also include: determining a first three-dimensional grid that the flight route does not pass through from multiple three-dimensional grids; and determining a signal strength corresponding to the first three-dimensional grid based on a signal strength corresponding to a target three-dimensional grid.

[0026] Exemplarily, the multiple three-dimensional grids of the three-dimensional grid model may include a first target point of each target three-dimensional grid and a second target point corresponding to each first three-dimensional grid; based on this, the step of determining the signal strength corresponding to the first three-dimensional grid based on the signal strength corresponding to the target three-dimensional grid may include the following steps a1 to a2: Step a1, taking each second target point as the sphere center, generating a corresponding sphere for each second target point, and increasing the radius of the sphere with a grid as a step length until there are multiple first target points on the surface of the sphere, then stopping the increase of the radius of the sphere.

[0027] Step a2, determining the signal strength corresponding to the second target point based on the signal strengths corresponding to multiple first target points on the surface of the sphere corresponding to the second target point, so as to obtain the signal strengths corresponding to the multiple second target points.

[0028] Exemplarily, for each second target point, if the position of the center point of a geometric shape formed by connecting multiple first target points on the surface of the sphere corresponding to the second target point is the same as the position of the second target point, the average value of the signal strengths corresponding to the multiple first target points is calculated, and the average value is used as the signal strength corresponding to the second target point; wherein the geometric shape has the multiple first target points on the surface of the sphere corresponding to the corresponding second target point as vertices.

[0029] For example Figure 3 As shown, with a second target point ( Figure 3 The spherical surface generated with the sphere as the center has two first target points ( Figure 3 ) and the line segment formed by the two first target points (i.e. Figure 3 If the green line segment in the figure passes through the second target point (indicating that the midpoint of the line segment is located at the same position as the second target point), the average signal strength corresponding to the two first target points can be calculated and used as the signal strength corresponding to the second target point. Figure 4 As shown, with a second target point ( Figure 4 The spherical surface generated with the sphere as the center has three first target points ( Figure 4 The triangle formed by the three first target points ( Figure 4 If the center point of the three first target points is at the same position as the second target point, the average signal strength corresponding to the three first target points can be calculated and used as the signal strength corresponding to the second target point. Figure 5 As shown, with a second target point ( Figure 5 The spherical surface generated with the sphere as the center has four first target points ( Figure 5 The three-sided pyramid ( Figure 5 If the center point of the four first target points is at the same position as the second target point, the average signal strength corresponding to the four first target points is calculated and used as the signal strength corresponding to the second target point. Figure 6 As shown, with a second target point ( Figure 6 The spherical surface generated with the sphere as the center has six first target points ( Figure 6 The octahedron ( Figure 6If the position of the center point of the six first target points (indicated by green dotted lines and green solid lines) is the same as the position of the second target point, the average value of the signal strengths corresponding to the six first target points is calculated, and the average value is used as the signal strength corresponding to the second target point.

[0030] For ease of understanding, Figures 2 to 6 Taking the example, the operation methods of the above steps a1 to a3 are described as follows.

[0031] See also Figure 2 As shown, the UAV is made to fly along routes of different altitudes to collect as many signals as possible through the UAV, and then the three-dimensional space covering the signal collection range of the UAV is gridded into multiple three-dimensional grids in a three-dimensional coordinate system to form a three-dimensional grid model. Each point (such as a vertex, a center point, etc.) on each three-dimensional grid is a corresponding three-dimensional target point. Figure 2 The color of the target point is used to represent the signal strength of the target point. These three-dimensional target points are roughly divided into four categories: a) target points that have collected signals once, and the signal strength of such target points is obtained by measurement; b) target points that have collected signals multiple times, and the signal strength of such target points is obtained by measurement; c) target points that have not collected signals, and the signal strength of such target points is obtained by calculation; d) target points that have not collected signals, and the signal strength of such target points is not obtained by calculation. For each target point that has collected signals multiple times, the signal strength of the target point can be averaged, and the average value obtained is used as the unique signal strength corresponding to the target point.

[0032] It can be seen that target points of categories a), b), and c) are target points that already have signal strength, and each target point in these three categories corresponds to a unique signal strength; target points of category d) are target points that have no signal strength; the side length of each three-dimensional grid in the three-dimensional grid model is the distance between two adjacent target points (such as the center points of two adjacent three-dimensional grids, etc.).

[0033] For each target point of type d), a sphere is generated with the target point as the center (the initial radius of the sphere is 0 or the side length of a three-dimensional grid), and the radius of the sphere is gradually increased with the side length of a three-dimensional grid as the step; Figure 3 As shown in , when there are two target points on the surface of a sphere and the line segment formed by the two target points passes through the center of the sphere, the mean of the signal strengths of the two target points is calculated as the signal strength of the target point corresponding to the center of the sphere; Figure 4 As shown in , when there are three target points on the surface of a sphere and the center point of the triangle formed by these three target points is at the same position as the center of the sphere, the mean of the signal strengths of the three target points is calculated as the signal strength of the target point corresponding to the center of the sphere; Figure 5As shown in , when there are four target points on the surface of a sphere and the center point of the triangular pyramid formed by these four target points is at the same position as the center of the sphere, then the average of the signal strengths of the four target points is calculated as the signal strength of the target point corresponding to the center of the sphere; Figure 6 As shown in the figure, when there are six target points on the surface of the sphere and the center point of the octahedron formed by the six target points is at the same position as the center of the sphere, then the average of the signal strengths of the six target points is calculated as the signal strength of the target point corresponding to the center of the sphere; according to this operation method, once the sphere surface generated with a single target point of unknown signal strength as the center has multiple target points and the center point of the shape formed by the target points on the sphere surface is at the same position as the center of the sphere, the signal strength of the target point with unknown signal strength can be calculated by finding the average of the known signal strengths. At this time, the signal strength of the target point corresponding to the current center of the sphere can be approximated as the average of the signal strengths of all target points on the sphere surface that already have signal strengths. Figure 2 The yellow sphere is used to represent the sphere with the target point of unknown signal strength as the center.

[0034] After calculating the signal strength of each d) target point, the remaining d) target points are taken as the sphere center to continue the signal strength calculation, and new signal strengths are continuously obtained. Finally, the signal strengths of all d) target points will be supplemented through this calculation method, and each target point in the three-dimensional grid model will have a unique signal strength.

[0035] As a possible implementation, the above-mentioned drone-based information visualization method may further include: Step 1: Determine the optimized strength corresponding to the same intersection based on the communication signal strength and / or positioning signal strength corresponding to the same intersection.

[0036] The optimized strength may be obtained by optimizing the communication signal strength and / or positioning signal strength corresponding to the corresponding intersection, and may be used to characterize the overall signal strength of the corresponding intersection.

[0037] The above step 1 can be performed according to the following steps 11 to 12: Step 11: If the communication signal strength corresponding to the same intersection is greater than a preset first strength threshold, then based on the communication signal strength corresponding to the same intersection, determine the optimized strength corresponding to the same intersection.

[0038] Exemplarily, the communication signal may include a 4G signal and / or a 5G signal and a picture transmission signal; when the communication signal strength corresponding to the same intersection is greater than a preset first strength threshold, the above-mentioned operation method for determining the optimized strength corresponding to the same intersection based on the communication signal strength corresponding to the same intersection may be: if the 4G signal strength and the 5G signal strength corresponding to the same intersection are greater than the preset first strength threshold and not greater than the preset second strength threshold, then the picture transmission signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection; wherein the preset second strength threshold is greater than the preset first strength threshold; if the 4G signal strength and / or the 5G signal strength corresponding to the same intersection are greater than the preset second strength threshold, then the maximum value of the 4G signal strength and / or the 5G signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection.

[0039] Continuing with the previous example, when the drone itself is equipped with a controller and a communication signal module and an RTK signal module are installed on the drone, the communication signal module may include a 4G / 5G acquisition module and an image transmission signal acquisition module. The 4G / 5G acquisition module is used to collect 4G signals and 5G signals, and the image transmission signal acquisition module is used to collect image transmission signals. When the UAV flies to the intersection to measure the communication signal strength, the controller first controls the 4G / 5G acquisition module to collect the 4G signal and 5G signal on the UAV flight path, and then measures the strength of each of the collected 4G signal and 5G signal; if the strength of each of the collected 4G signal and 5G signal is greater than the preset first strength threshold and not greater than the preset second strength threshold, it means that the 4G signal and the 5G signal are both weak, then the controller switches to the image transmission signal acquisition module to control the image transmission signal acquisition module to collect the image transmission signal on the UAV flight path, and measures the strength of the collected image transmission signal, and then uses the strength of the collected image transmission signal as the optimized strength corresponding to the intersection; if the strength of the collected 4G signal and / or 5G signal is greater than the preset second strength threshold, it means that the 4G signal and / or 5G signal is strong, then the maximum value of the strengths of the collected 4G signal and / or 5G signal is determined, and the maximum value is used as the optimized strength corresponding to the intersection.

[0040] Step 12: If the communication signal strength corresponding to the same intersection is less than or equal to a preset first strength threshold, then based on the positioning signal strength corresponding to the same intersection, determine the optimized strength corresponding to the same intersection.

[0041] Exemplarily, the positioning signal may include an RTK signal; when the communication signal strength corresponding to the same intersection is less than or equal to a preset first strength threshold, the above-mentioned operation method for determining the optimized strength corresponding to the same intersection based on the positioning signal strength corresponding to the same intersection may be: determining the RTK signal strength corresponding to the same intersection as the optimized strength corresponding to the same intersection.

[0042] Continuing with the previous example, when the drone itself is equipped with a controller and a communication signal module and an RTK signal module are installed on the drone, if the strength of the 4G signal and the 5G signal and the strength of the image transmission signal measured when the drone flies to the intersection are not greater than the preset first strength threshold, the controller switches to the RTK signal module to control the RTK signal module to collect the RTK signal on the drone's flight path, and measures the strength of the collected RTK signal, and then uses the strength of the collected RTK signal as the optimized strength corresponding to the intersection.

[0043] Step 2: Visualize the position information of the three-dimensional grid model corresponding to the flight area and the optimization strength corresponding to each intersection to obtain visualization information.

[0044] The position information may include the flight position of each three-dimensional grid corresponding to the flight area.

[0045] The above step 2 can be performed according to the following steps 21 to 22: Step 21: Generate a corresponding signal identifier for each intersection point based on the optimization strength corresponding to each intersection point.

[0046] The signal identifier can be used to characterize the signal type corresponding to the corresponding optimization strength. The signal identifier can be a color identifier, a text identifier, a graphic identifier, etc., which is not limited.

[0047] Exemplarily, the communication signals use 4G signals, 5G signals and image transmission signals, and the positioning signals use RTK signals. When the UAV flies to the intersection and measures the optimized strength corresponding to the intersection (in this case, the strength of one of the 4G signal, 5G signal, image transmission signal and RTK signal), a first signal identifier representing the 4G signal, a second signal identifier representing the 5G signal, a third signal identifier representing the image transmission signal, or a fourth signal identifier representing the RTK signal can be generated for the intersection according to the type of signal with the optimized strength.

[0048] Step 22, binding the optimized strength and signal identification corresponding to the same intersection, and visualizing based on the position information and the bound information corresponding to all the intersections to obtain visualization information.

[0049] Continuing with the previous example, when a signal identifier corresponding to an intersection is generated (in this case, a first signal identifier, a second signal identifier, a third signal identifier, or a fourth signal identifier), the optimized strength corresponding to the intersection and the signal identifier may be associated to bind the two into bound information as a whole. After associating the optimized strengths and signal identifiers corresponding to all intersections, the obtained position information and all bound information may be visualized to obtain visualized information.

[0050] As a possible implementation, each intersection point may be a waypoint on a corresponding target route (i.e., one of the flight routes); based on this, the above step of visualizing the location information and the bound information corresponding to all the intersection points may include: Step A1, converting the flight position corresponding to each target point into the corresponding geographical location in a preset map.

[0051] Exemplarily, a coordinate conversion relationship between the flight position coordinates of the drone and the geographic location coordinates in a preset map (such as longitude, latitude, and altitude) can be established in advance as a mapping relationship between the drone flight path and the preset map. After obtaining the flight position coordinates of a certain intersection corresponding to the three-dimensional grid model, the mapping relationship can be used to convert the flight position coordinates into the corresponding geographic location coordinates in the preset map, thereby mapping the flight position corresponding to the target point to the corresponding geographic location in the preset map.

[0052] Step A2: based on the geographical location corresponding to the intersection point on the same target route and the bound information, determine the visualization parameters of the same target route corresponding to the preset map.

[0053] Exemplarily, the visualization parameters can be used to generate a visualized signal strength map corresponding to the same target route based on the geographical location corresponding to the same intersection on the same target route in the preset map and the bound information (bound with the optimized strength and signal identification). In the visualized signal strength map, different colors are used to identify different types of signals on the flight path of the drone, and the lightness of the color is used to identify the signal strength. The visualization signal strength map can be generated by: dividing different types of signals with optimized strength according to the signal type, and establishing a first correspondence between the signal type and the hue; dividing different intensity ranges of signals with optimized strength according to the optimized strength, and establishing a second correspondence between the intensity range and the brightness; using the established first correspondence to assign different hues to different types of signals for identification, and using the established second correspondence to assign different brightness to signals with optimized strengths within different intensity ranges for identification.

[0054] Step A3: visualize each target route using its corresponding visualization parameters.

[0055] Continuing with the previous example, after determining the visualization parameters of the target route corresponding to the preset map, the visualization parameters corresponding to the target route can be used to generate a visualization signal strength map corresponding to the target route; after obtaining the visualization signal strength maps corresponding to all target routes, the corresponding map data of the preset map can be obtained, and the obtained visualization signal strength map and map data can be used as visualization information of signal strength.

[0056] As a possible implementation, the above-mentioned drone-based information visualization method may further include: providing a human-computer interaction interface to display the visualization information through the human-computer interaction interface.

[0057] Continuing with the previous example, after obtaining the visualized signal strength graphs and map data corresponding to all target routes as the visualized information of the signal strength, the obtained visualized information can be displayed on the human-computer interaction interface.

[0058] See also Figure 7 As shown, the visual information of signal strength can be displayed in the form of a flat graphic on the human-computer interaction interface. Figure 7 A visualized signal strength graph 201 corresponding to one route and a visualized signal strength graph 202 corresponding to another route are shown. Figure 8 As shown, the visual information of signal strength can be displayed in the form of three-dimensional graphics on the human-computer interaction interface. Figure 8 A visualized signal strength graph 301 corresponding to one of the routes and a visualized signal strength graph 302 corresponding to another route are shown.

[0059] As a possible implementation, the above-mentioned drone-based information visualization method may also include: for each intersection, if the intersection is an operation point, determining the maximum value of the signal strength corresponding to the intersection, and identifying the signal with the maximum value; if the intersection is not an operation point, determining the average value of the signal strength corresponding to the intersection, and identifying the signal with the smallest deviation between the signal strength corresponding to the intersection and the average value; wherein the operation point represents the point where the drone takes pictures.

[0060] Exemplarily, each intersection can be judged to be an operation point or a transition point. The operation point is a waypoint where the drone takes pictures, and the transition point is a waypoint where the drone only flies without taking pictures. For a certain waypoint, if the waypoint is an operation point, the signal with the largest signal strength corresponding to the waypoint is identified in a first identification method. If the intersection is a transition point, the signal with the signal strength closest to the average signal strength corresponding to the waypoint is identified in a second identification method. The first identification method is different from the second identification method. This operation method can identify the relatively better signals of the operation point and the transition point respectively through two different identification methods, thereby facilitating the drone to select the appropriate signal for communication on its flight path, thereby ensuring the communication quality of the drone.

[0061] As a possible implementation, the above-mentioned drone-based information visualization method may also include: in response to a first viewing operation on the human-computer interaction interface, determining a target area corresponding to the first viewing operation, and obtaining first target information corresponding to the visualization information of the target area; wherein the first target information characterizes the signal strength distribution of the flight path of the drone in the target area.

[0062] The first viewing operation may be performed by mouse operation, keyboard operation, touch operation, etc., and is not limited thereto.

[0063] Continuing with the previous example, since the map data is data within a relatively large area, the area covered by the visual signal strength graph is also relatively large. When the electronic device displays a large number of visual signal strength graphs and a large amount of map data through the human-computer interaction interface, if relevant personnel want to know the signal strength distribution of the flight path of the drone in a smaller area, they can select the target area to be viewed to trigger the electronic device to obtain the visual signal strength graph and map data in the target area as the first target information and display it through the human-computer interaction interface.

[0064] As a possible implementation, the above-mentioned drone-based information visualization method may also include: obtaining second target information corresponding to each target route of the visualization information, and storing the second target information corresponding to each target route to a cloud platform; wherein the second target information represents the signal strength distribution of the flight path of the drone corresponding to the corresponding target route within a preset time period.

[0065] Continuing with the previous example, when the electronic device obtains the visualized signal strength graph and map data, the electronic device can obtain the visualized signal strength graph and map data in the local area where each target route is located as the second target information, and upload the visualized signal strength graph and map data corresponding to each target route as the second target information to the cloud platform for associated storage; when storing the second target information corresponding to the same target route, the cloud platform can further associate the corresponding route identifier for the second target information corresponding to the same target route, so as to distinguish the second target information corresponding to different target routes by different route identifiers. If relevant personnel want to know the signal strength distribution of the drone flight path on a designated route, they can select the designated route to trigger the electronic device to obtain the second target information corresponding to the designated route and display it through the human-computer interaction interface.

[0066] As a possible implementation, the flight period of the drone may include multiple different time periods; based on this, the above-mentioned drone-based information visualization method may also include: in response to a second viewing operation on the human-computer interaction interface, obtaining second target information corresponding to different time periods for the same target route from the cloud platform, and displaying the second target information corresponding to different time periods for the same target route through the human-computer interaction interface.

[0067] The second viewing operation is similar to the first viewing operation, and may also be performed by mouse operation, keyboard operation, touch operation, etc., without limitation.

[0068] Since the visualization information of signal strength may be the result of measurements performed by the UAV in multiple different time periods, the communication signal strength and / or positioning signal strength may be measured multiple times in different time periods for the same route to generate a visualization signal strength graph corresponding to the same route in different time periods based on the measurement results of the same route in different time periods. After the visualization signal strength graph and map data corresponding to the same route in different time periods are uploaded to the cloud platform for associated storage, if relevant personnel want to know the signal strength distribution of the UAV flight path on the route at different time periods, they can select the route to trigger the electronic device to obtain the visualization signal strength graph and map data corresponding to the route at different time periods and superimpose the visualization signal strength graphs corresponding to multiple different time periods on the human-computer interaction interface in the same area as the route, thereby facilitating relevant personnel to intuitively compare the signal strength distribution of the UAV flight path on the route at different time periods.

[0069] As a possible implementation method, the target route can be either a fixed route containing multiple intersections or a route containing multiple intersections that is dynamically generated based on an obstacle avoidance algorithm, and there is no limitation on this. For each route dynamically generated based on an obstacle avoidance algorithm, the waypoints on the route can be divided into transition waypoints (i.e., waypoints dynamically generated based on an obstacle avoidance algorithm for the drone to bypass obstacles, also known as transition points) and operating waypoints (fixed waypoints, also known as operating points). Each waypoint on the route is characterized as a transition waypoint or an operating waypoint by its corresponding waypoint identifier. Based on this, when measuring signal strength, the drone can select different communication methods based on whether the target route is a fixed route or a route dynamically generated based on an obstacle avoidance algorithm. The specific communication methods can be: (1) If the target route is a fixed route that includes multiple intersection points, when the UAV flies to the intersection point to measure the communication signal strength and / or positioning signal strength, the communication signal strength and / or positioning signal strength are compared to take the signal with the largest strength as the target signal, and communication is performed according to the signal type of the target signal.

[0070] (2) If the target route is a route dynamically generated based on an obstacle avoidance algorithm and includes multiple intersections, then when the UAV flies to the intersection to measure the communication signal strength and the positioning signal strength, the waypoint identifier corresponding to the intersection is obtained to determine whether the intersection is a transition waypoint or an operation waypoint based on the waypoint identifier. If the waypoint identifier corresponding to the intersection indicates that the intersection is a transition waypoint, then based on the amount of traffic required for communication, the signal with the smallest traffic consumption required for the UAV to communicate is used as the target signal, and communication is performed according to the signal type of the target signal. If the waypoint identifier corresponding to the intersection indicates that the intersection is an operation waypoint, the communication signal strength and / or positioning signal strength are compared to use the signal with the largest strength as the target signal, and communication is performed according to the signal type of the target signal.

[0071] For ease of understanding, the implementation of the above-mentioned drone-based information visualization method is exemplarily described below by taking a specific application as an example.

[0072] See also Fig. 9 As shown, the drone itself is equipped with a main controller 401 and a flight controller. The drone is also equipped with a communication signal module and an RTK signal module. The main controller 401 is connected to the flight controller, the communication signal module and the RTK signal module respectively. The drone can send a route from the main controller 401 to the flight controller to control the drone to fly according to the route through the flight controller. The above-mentioned drone-based information visualization method can be mainly implemented through the main controller 401, the IoT (Internet of Things) platform 402, the internal server 403 and the external server 404. The specific implementation methods mainly include: When the UAV flies to a designated waypoint, the main controller 401 can control the communication signal module of the UAV to collect communication signals on the flight path of the UAV and / or control the RTK signal module to collect RTK signals, and then the UAV measures the strength of the collected signals; during the flight of the UAV, the main controller 401 can also control the built-in position recording module of the UAV to record the flight position of the UAV when measuring the signal strength, and the main controller 401 can associate and store the signal strength data and flight position data corresponding to the same waypoint together, and the main controller 401 can send the obtained signal strength data and flight position data to the IoT platform 402 through the MQTT protocol; the IoT platform 402 stores the received data and sends the received data through the websocket protocol The data is sent to the internal server 403; the internal server 403 performs data subscription and data preservation and saves the data to the relational database postgresql; when the external server 404 needs to generate a signal map (i.e., visualization information of signal strength, including map data and visualization signal strength map data), the external server 404 can obtain the data required for generating the signal map from the internal server 403 through the kafka protocol, and the external server 404 can also query the data required for generating the signal map from the website, and then the external server 404 generates the signal map using the obtained data; the external server 404 can also save the generated signal map to the relational database mysql; the external server 404 also provides a human-computer interaction interface for users to display the signal map through the human-computer interaction interface.

[0073] The above-mentioned UAV-based information visualization method can mainly include the following key links: 1. Data collection

[0074] The communication signal module includes a 4G / 5G acquisition module for collecting 4G signals and 5G signals and an image transmission signal acquisition module for collecting image transmission signals. When the UAV flies to the intersection to measure the signal strength (including the communication signal strength and the RTK signal strength), the main controller 401 first switches to the communication signal module to collect the 4G signal and the 5G signal on the flight path of the UAV, and determines the strength of each of the 4G signal and the 5G signal on the flight path of the UAV; if the strength of each of the 4G signal and the 5G signal on the flight path of the UAV is relatively weak (such as the signal strength is greater than the preset first strength threshold and not greater than the preset second strength threshold), the main controller 401 switches to the image transmission signal acquisition module to collect the image transmission signal on the flight path of the UAV, and determines the strength of the image transmission signal on the flight path of the UAV; if the strength of each of the 4G signal, the 5G signal and the image transmission signal on the flight path of the UAV is relatively weak (such as the signal strength is not greater than the preset first strength threshold), the main controller 401 switches to the RTK signal module to collect the RTK signal on the flight path of the UAV, and determines the strength of the RTK signal on the flight path of the UAV.

[0075] The flight mission of the drone can be planned and issued to the drone by the external server 404 according to the terrain characteristics of the flight area and flight requirements, and it is necessary to ensure that the drone flight area covers important areas.

[0076] (2) Data processing

[0077] During the flight of the drone, the location information of each waypoint (including the flight position of the drone when measuring the signal strength) is recorded by the built-in location recording module of the drone, and the main controller 401 of the drone associates and saves the location information and signal strength data of the same waypoint.

[0078] The drone also uploads the collected data (including location data and signal strength data) to the IoT platform 402 by the main controller 401, so as to upload the data to the internal server 403 through the IoT platform 402, and then upload the data to the external server 404 through the internal server 403.

[0079] 3. Visualization

[0080] The processed signal strength data is mapped to the geographical location (such as longitude, latitude, altitude, etc.) of the UAV flight path in the external server 404 using GIS (Geographic Information System) technology to generate an intuitive signal map, that is, the location information is converted into the geographical location in the map to draw a visual signal strength map on the UAV flight path, and each flight path of the UAV on the signal map corresponds to a stronger signal.

[0081] In the process of generating the signal map, each flight path needs to be labeled with a color to distinguish different types of signals by color, and each flight path needs to be labeled with the brightness of the color to distinguish signals with different intensity ranges by the brightness of the color.

[0082] In addition, in order to achieve that each flight path of the drone on the signal map corresponds to a strong signal, the operation method that needs to be performed in the process of generating the signal map can be: if the 4G signal and the 5G signal collected by the drone are both weak (such as the signal strength is greater than the preset first strength threshold and not greater than the preset second strength threshold), then only the image transmission signal is marked with color on the signal map and the intensity of the image transmission signal is marked with the brightness of the color without marking the 4G signal, 5G signal and RTK signal; if the 4G signal and the 5G signal collected by the drone are both strong (such as the signal strength is greater than the preset second strength threshold), the signal with the strongest intensity among the 4G signal and the 5G signal is determined and marked, that is, only the signal with the strongest intensity is marked with color on the signal map and the intensity of the signal is marked with the brightness of the color without marking other signals; if the 4G signal, the 5G signal and the image transmission signal collected by the drone are all weak (such as the signal strength is not greater than the preset first strength threshold), then only the RTK signal is marked with color on the signal map and the intensity of the RTK signal is marked with the brightness of the color without marking other signals.

[0083] The external server 404 also has an interactive function: the external server 404 provides a user interface (i.e., a human-computer interaction interface), supports users in viewing signal maps within a global range and signal maps within a local range, supports users in superimposing and viewing signal maps generated based on signal strength data of the same route in different time periods (i.e., the user interface superimposes and displays signal maps of the same route corresponding to different time periods so that users can compare the signal strength distribution of the same flight path in different time periods), and can also facilitate users in viewing the signal strength distribution of each flight area in detail so as to formulate relevant plans and adjust the flight plan accordingly.

[0084] (IV) Optimization of communication methods.

[0085] For the waypoints during drone flight, if the waypoint is a transition waypoint, you can choose a communication method that consumes less traffic to save traffic consumption. If the waypoint is an operation point, you need to choose the communication method with the strongest signal to ensure smooth communication.

[0086] 5. Multi-band signal acquisition.

[0087] The 4G signal frequency bands collected by drones mainly include: 824MHz~960MHz, 1710MHz~2690MHz. The 5G signal frequency bands collected by drones mainly include: 824MHz~960MHz, 1710MHz~2690MHz, 3300MHz~5000MHz. The RTK signal frequency bands collected by drones mainly include: 1575.42MHz, 1227.60MHz, 1176.45MHz. The image transmission signal frequency band mainly uses the same or similar frequency band as the WIFI signal. The WIFI signal frequency band mainly includes: 2.400GHz~2.4835GHz, 5.15GHz~5.825GHz.

[0088] When collecting 4G signals, 5G signals, image transmission signals and RTK signals, signals of different frequency bands can be collected separately, and the signal strength data of different frequency bands can be saved separately, so that the signal strength data of different frequency bands can be filtered out later to generate a signal map, so that the external server 404 supports the user interface to display the signal strength distribution of the drone flight path according to different frequency bands, so as to meet the diverse needs of users to view information.

[0089] In actual application, drones can use highly sensitive signal receiving modules to measure signal strength, which enables drones to accurately measure signal strength in different environments. Drones can also use high-precision GPS modules to record the flight position of drones in real time, and associate the signal strength data and flight position of the same waypoint to ensure the temporal and spatial consistency of the data. Efficient communication protocols can also be used to achieve low-latency data transmission between drones and ground stations to ensure the real-time nature of data transmission and the integrity of data during transmission. Advanced signal processing algorithms can also be integrated into drones through built-in modules to automatically remove noise and interference from the collected signals using signal processing algorithms, thereby improving data quality.

[0090] The beneficial effects of the above-mentioned drone-based information visualization method can be mainly reflected in the following aspects: 1) Through signal map visualization, users can understand which areas may have signal blind spots or weak signal areas before the drone flies, thereby avoiding controlling the drone to fly into these dangerous areas where there may be signal blind spots or weak signal areas, reducing the risk of the drone losing contact or falling, and improving the safety of drone flight.

[0091] 2) Through signal map visualization, users can evaluate and optimize the flight routes of the drone before it flies, which can reduce the rework of the drone due to signal problems and reduce the cost of drone maintenance and redeployment. By avoiding unnecessary high-risk flights of drones, the service life of drones can also be extended.

[0092] 3) Through signal map visualization, during the flight of the drone, the operator can promptly obtain signal changes in different areas and adjust the flight route or flight altitude of the drone in time, so that the drone can avoid areas with weak signals and ensure that the drone is always in good communication status.

[0093] 4) Through signal map visualization, engineers can conduct in-depth analysis of the signal map to accurately determine areas with insufficient signal coverage, and take corresponding measures (such as adding base stations, optimizing antenna directions, etc.) to improve them, so that areas with insufficient signal coverage can achieve an ideal state of more uniform signal coverage and higher signal strength, thereby providing users with more stable and reliable communication services.

[0094] Based on the above-mentioned information visualization method based on drones, the embodiment of the present invention also provides an information visualization device based on drones, see Fig.10 As shown, the device may include the following modules: A construction module 502 is used to construct a three-dimensional grid model corresponding to the flight area of ​​the drone; wherein the flight area includes a plurality of waypoints, and the three-dimensional grid model includes a plurality of three-dimensional grids; A determination module 504, configured to determine a target three-dimensional grid through which the flight route passes from the plurality of three-dimensional grids; The acquisition module 506 is used to acquire the signal strength of the UAV flying to the target three-dimensional grid based on the flight route; wherein the signal strength includes communication signal strength and / or positioning signal strength.

[0095] The display module 508 is configured to display the visualization information in the target three-dimensional grid based on the visualization information of the signal strength.

[0096] By adopting the above-mentioned drone-based information visualization device, relevant personnel can intuitively know the signal strength distribution of the drone's flight area based on the visualization information of the signal strength in the three-dimensional grid model before the drone patrol operation, and then optimize the drone's flight path during the drone patrol operation to avoid the drone flying to areas with weak signals, thereby avoiding the drone's communication with the drone operating platform being interrupted due to weak signals during flight, which is beneficial to improving the quality of drone patrol operations and the safety of drone flights during drone patrol operations.

[0097] The acquisition module 506 can also be used to: determine multiple intersections of each target three-dimensional grid that overlap with the flight route; when the UAV flies to each intersection, the UAV collects the communication signal corresponding to the intersection and measures the communication signal strength corresponding to the intersection; if the communication signal strength corresponding to the intersection is less than or equal to the preset first strength threshold, the UAV collects the positioning signal corresponding to the intersection and measures the positioning signal strength corresponding to the intersection; for each target three-dimensional grid, the signal strength corresponding to one of the intersections of the target three-dimensional grid or the average value of the signal strengths corresponding to multiple intersections of the target three-dimensional grid is used as the signal strength corresponding to the target three-dimensional grid.

[0098] The determination module 504 may also be used to: determine a first three-dimensional grid that the flight route does not pass through from the multiple three-dimensional grids; and determine the signal strength corresponding to the first three-dimensional grid based on the signal strength corresponding to the target three-dimensional grid.

[0099] The above-mentioned multiple three-dimensional grids may include the first target point of each target three-dimensional grid and the second target point of each first three-dimensional grid; based on this, the above-mentioned acquisition module 506 can also be used to: take each second target point as the center of the sphere, generate a corresponding sphere for each second target point, and increase the radius of the sphere with one grid as the step size until there are multiple first target points on the surface of the sphere and stop increasing the radius of the sphere; based on the signal strength corresponding to the multiple first target points on the surface of the sphere corresponding to the second target point, determine the signal strength corresponding to the second target point to obtain the signal strength corresponding to the multiple second target points.

[0100] The above-mentioned acquisition module 506 can also be used for: for each second target point, if the position of the center point of the geometric shape formed by multiple first target points on the spherical surface corresponding to the second target point is the same as the position of the second target point, then the average value of the signal strengths corresponding to the multiple first target points is calculated, and the average value is used as the signal strength corresponding to the second target point; wherein, the geometric shape has the multiple first target points on the spherical surface corresponding to the corresponding second target point as vertices.

[0101] The above-mentioned communication signals may include 4G signals, image transmission signals and / or 5G signals; based on this, the above-mentioned display module 508 can also be used to: determine the optimization strength corresponding to the same intersection based on the communication signal strength and / or positioning signal strength corresponding to the same intersection; visualize the position information of the flight area corresponding to the three-dimensional grid model and the optimization strength corresponding to each intersection to obtain the visualization information.

[0102] The above-mentioned display module 508 can also be used for: if the communication signal strength corresponding to the same intersection is greater than the preset first strength threshold, then based on the communication signal strength corresponding to the same intersection, the optimization strength corresponding to the same intersection is determined; if the communication signal strength corresponding to the same intersection is less than or equal to the preset first strength threshold, then based on the positioning signal strength corresponding to the same intersection, the optimization strength corresponding to the same intersection is determined.

[0103] The above-mentioned communication signals may include 4G signals, 5G signals and image transmission signals; based on this, the above-mentioned display module 508 can also be used for: if the 4G signal strength and the 5G signal strength corresponding to the same intersection are greater than the preset first strength threshold and not greater than the preset second strength threshold, then the image transmission signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection; wherein the preset second strength threshold is greater than the preset first strength threshold; if the 4G signal strength and / or 5G signal strength corresponding to the same intersection is greater than the preset second strength threshold, then the maximum value of the 4G signal strength and the 5G signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection.

[0104] The above-mentioned display module 508 can also be used for: for each intersection, if the intersection is an operating point, then the maximum value of the signal strength corresponding to the intersection is determined, and the signal with the maximum value is identified; if the intersection is not an operating point, then the average value of the signal strength corresponding to the intersection is determined, and the signal with the smallest deviation between the signal strength corresponding to the intersection and the average value is identified; wherein the operating point represents the point where the drone takes pictures.

[0105] The implementation principle and technical effects of the drone-based information visualization device provided in the embodiment of the present invention are the same as those of the aforementioned drone-based information visualization method embodiment. For the sake of brief description, for matters not mentioned in the drone-based information visualization device embodiment, reference may be made to the corresponding contents in the aforementioned drone-based information visualization method embodiment.

[0106] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0107] 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 non-volatile computer-readable storage medium that can be executed by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store program codes.

[0108] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0109] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for information visualization based on drones, characterized in that: The method comprises: Constructing a three-dimensional grid model corresponding to the flight area of ​​the UAV; wherein the three-dimensional grid model includes a plurality of three-dimensional grids; Determine a target three-dimensional grid through which the flight route passes from the plurality of three-dimensional grids; Based on the flight route, obtaining the signal strength of the UAV flying to the target three-dimensional grid; wherein the signal strength includes communication signal strength and / or positioning signal strength; Based on the visualization information of the signal strength, the visualization information is displayed in the target three-dimensional grid.

2. The method according to claim 1, characterized in that Based on the flight route, obtaining the signal strength of the UAV flying to the target three-dimensional grid includes: Determine a plurality of intersection points where each target three-dimensional grid overlaps with the flight route; When the drone flies to each intersection, the drone collects the communication signal corresponding to the intersection and measures the communication signal strength corresponding to the intersection. If the communication signal strength corresponding to the intersection is less than or equal to the preset first strength threshold, the drone collects the positioning signal corresponding to the intersection and measures the positioning signal strength corresponding to the intersection. For each target three-dimensional grid, the signal strength corresponding to one of the intersections of the target three-dimensional grid or the average value of the signal strengths corresponding to multiple intersections of the target three-dimensional grid is used as the signal strength corresponding to the target three-dimensional grid.

3. The method according to claim 2, characterized in that The method further comprises: Determine a first three-dimensional grid from the plurality of three-dimensional grids through which the flight route does not pass; Based on the signal strength corresponding to the target three-dimensional grid, the signal strength corresponding to the first three-dimensional grid is determined.

4. The method according to claim 3, characterized in that The plurality of three-dimensional grids include a first target point of each target three-dimensional grid and a second target point of each first three-dimensional grid; Determining the signal strength corresponding to the first three-dimensional grid based on the signal strength corresponding to the target three-dimensional grid includes: Taking each second target point as the sphere center, generating a corresponding sphere for each second target point, and increasing the radius of the sphere with one grid as the step length, and stopping increasing the radius of the sphere when there are multiple first target points on the surface of the sphere; Based on the signal strengths corresponding to the plurality of first target points on the surface of the sphere corresponding to the second target point, the signal strength corresponding to the second target point is determined to obtain the signal strengths corresponding to the plurality of second target points.

5. The method according to claim 4, characterized in that Determining the signal strength corresponding to the second target point based on the signal strengths corresponding to the plurality of first target points on the surface of the sphere corresponding to the second target point, so as to obtain the signal strengths corresponding to the plurality of second target points, includes: For each second target point, if the position of the center point of a geometric shape formed by multiple first target points on the surface of the sphere corresponding to the second target point is the same as the position of the second target point, the average value of the signal strengths corresponding to the multiple first target points is calculated, and the average value is used as the signal strength corresponding to the second target point; wherein, the geometric shape has the multiple first target points on the surface of the sphere corresponding to the corresponding second target point as vertices.

6. The method according to claim 2, characterized in that The communication signal includes a 4G signal, a picture transmission signal and / or a 5G signal; the method further includes: Determine the optimized strength corresponding to the same intersection based on the communication signal strength and / or positioning signal strength corresponding to the same intersection; The visualization information is obtained by performing visualization based on the position information of the three-dimensional grid model corresponding to the flight area and the optimization strength corresponding to each intersection.

7. The method according to claim 6, characterized in that Determining the optimized strength corresponding to the same intersection based on the communication signal strength and / or positioning signal strength corresponding to the same intersection includes: If the communication signal strength corresponding to the same intersection is greater than the preset first strength threshold, then based on the communication signal strength corresponding to the same intersection, determining the optimized strength corresponding to the same intersection; If the communication signal strength corresponding to the same intersection is less than or equal to the preset first strength threshold, the optimized strength corresponding to the same intersection is determined based on the positioning signal strength corresponding to the same intersection.

8. The method according to claim 7, characterized in that The communication signal includes a 4G signal, a 5G signal, and a picture transmission signal; based on the communication signal strength corresponding to the same intersection, determining the optimized strength corresponding to the same intersection includes: If the 4G signal strength and the 5G signal strength corresponding to the same intersection are greater than the preset first strength threshold and not greater than the preset second strength threshold, the image transmission signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection; wherein the preset second strength threshold is greater than the preset first strength threshold; If the 4G signal strength and / or 5G signal strength corresponding to the same intersection is greater than the preset second strength threshold, the maximum value of the 4G signal strength and the 5G signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection.

9. The method according to claim 1, characterized in that: The method further comprises: For each intersection, if the intersection is an operation point, the maximum value of the signal strength corresponding to the intersection is determined, and the signal with the maximum value is identified; if the intersection is not an operation point, the average value of the signal strength corresponding to the intersection is determined, and the signal with the smallest deviation between the signal strength corresponding to the intersection and the average value is identified; wherein the operation point represents the point where the drone takes pictures.

10. An information visualization device based on a drone, characterized in that: The device comprises: A construction module, used to construct a three-dimensional grid model corresponding to the flight area of ​​the drone; wherein the flight area includes a plurality of waypoints, and the three-dimensional grid model includes a plurality of three-dimensional grids; A determination module, used to determine a target three-dimensional grid through which the flight route passes from the plurality of three-dimensional grids; An acquisition module, used for acquiring the signal strength of the UAV flying to the target three-dimensional grid based on the flight route; wherein the signal strength includes communication signal strength and / or positioning signal strength; The display module is used to display the visualization information in the target three-dimensional grid based on the visualization information of the signal strength.

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