Information visualization method and device based on drone

Abstract

This invention provides a drone-based information visualization method and device. The method first constructs a 3D grid model corresponding to the drone's flight area. The target 3D grid through which the flight path passes is determined from multiple 3D grids. The signal strength from the drone to the target 3D grid is then obtained based on the flight path. The visualized information is then displayed in the target 3D grid based on the signal strength. This method facilitates optimization of drone flight paths, thus preventing communication interruptions between the drone and the operating platform due to weak signals during flight.

Description

Technical Field

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

[0002] In existing drone communication technology, 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 weak signals, 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 collide with obstacles due to yaw and be damaged. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a drone-based information visualization method and device to facilitate relevant personnel to optimize the drone flight path, thereby avoiding the interruption of communication between the drone and the drone operating platform due to weak signal 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 from the drone flying 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 for constructing 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 for determining the target three-dimensional grid through which the flight route passes from the multiple three-dimensional grids; an acquisition module for acquiring 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 for displaying 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 a drone-based information visualization method and device, which first constructs a three-dimensional grid model corresponding to the drone's flight area, 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. Thereafter, 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 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 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 in part will become apparent from the description, or understood by practicing the present invention. The purposes 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 embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 Schematic diagram of a flow chart of a method for information visualization based on a drone in an embodiment of the present invention;

[0011] Figure 2 This is a structural example diagram of a grid model in an embodiment of the present invention;

[0012] 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;

[0013] Figure 4 This is an example diagram showing that the center point of a triangle formed by connecting 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;

[0014] Figure 5This 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 is located at the same position as the center of the sphere in an embodiment of the present invention;

[0015] Figure 6 This is an example diagram showing an embodiment of the present invention in which the center point of an octahedron formed by connecting six target points on the surface of a sphere is located at the same position as the center of the sphere;

[0016] Figure 7 This is an example diagram of a planar display of signal strength distribution information according to an embodiment of the present invention;

[0017] Figure 8 This is an example diagram of a three-dimensional display of signal strength distribution information in an embodiment of the present invention;

[0018] Figure 9 This is an example diagram of data interaction of a drone-based information visualization method in an embodiment of the present invention;

[0019] Figure 10 Schematic diagram of the structure of an information visualization device based on a drone in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] Currently, existing drone communication technologies can cause communication with the drone's operating platform to be interrupted during flight if the drone flies into a location or area with a weak signal. This is due to the weak signal. The present invention provides a drone-based information visualization method and device that facilitates optimization of drone flight paths, thereby preventing communication interruptions with the drone's operating platform due to weak signals during flight.

[0022] To facilitate understanding of this embodiment, firstly, a method for visualizing information 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:

[0023] Step S102: construct a three-dimensional grid model corresponding to the flight area of ​​the drone.

[0024] The flight area may include multiple waypoints, and the three-dimensional grid model may include multiple three-dimensional grids.

[0025] The three-dimensional space corresponding to the drone's flight area 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, center point, etc.) on each grid can be a corresponding target point. Figure 2 Shows the structure of the three-dimensional mesh model.

[0026] Step S104 : determining a target three-dimensional grid through which the flight route passes from the plurality of three-dimensional grids.

[0027] Step S106: Based on the flight route, obtain the signal strength of the drone flying to the target three-dimensional grid.

[0028] The signal strength may include communication signal strength and / or positioning signal strength.

[0029] Communication signals can include 4G signals, 5G signals, image transmission signals, etc., and positioning signals can include GPS signals, RTK signals, etc. The types of communication signals and positioning signals can be selected according to actual needs and there is no limitation on this.

[0030] Step S108: displaying the visualization information in the target three-dimensional grid based on the visualization information of the signal strength.

[0031] The visual information displayed in the target three-dimensional grid can represent the signal strength distribution in the flight area.

[0032] An embodiment of the present invention provides an information visualization method based on a drone. The method first constructs a three-dimensional grid model corresponding to the drone's flight area, 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 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 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.

[0033] As a possible implementation, the above-mentioned 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 intersection points of each target three-dimensional grid that overlap with the flight route; when the drone flies to each intersection point, the drone collects the communication signal corresponding to the intersection point and measures the communication signal strength corresponding to the intersection point; if the communication signal strength corresponding to the intersection point is less than or equal to a preset first strength threshold, the drone collects the positioning signal corresponding to the intersection point and measures the positioning signal strength corresponding to the intersection point; for each target three-dimensional grid, the signal strength corresponding to one of the intersection points of the target three-dimensional grid or the average value of the signal strengths corresponding to multiple intersection points of the target three-dimensional grid is used as the signal strength corresponding to the target three-dimensional grid.

[0034] For example, the drone itself has 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 strength on the drone's flight path. 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.

[0035] As a possible implementation, the drone-based information visualization method may further include: determining a first three-dimensional grid that the flight route does not pass through from a plurality of 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.

[0036] 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:

[0037] Step a1: Generate a corresponding sphere for each second target point with each second target point as the sphere center, and increase the radius of the sphere with a grid as the step size until there are multiple first target points on the surface of the sphere.

[0038] Step a2: 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.

[0039] Exemplarily, for each second target point, if the position of the center point of the 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, 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 surface of the sphere corresponding to the corresponding second target point as vertices.

[0040] For example Figure 3 As shown, with a second target point ( Figure 3 The spherical surface generated by the sphere center (indicated by the yellow solid dot) 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 at the same location as the second target point), the average of the signal strengths 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 by the sphere 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 location as the second target point, the average value of the signal strengths 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 by the sphere center has four first target points ( Figure 5 ) and the triangular pyramid ( Figure 5If the center point of the four first target points is at the same position as the second target point, the average value of the signal strengths 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 sphere surface generated by the sphere center has six first target points ( Figure 6 ) and the octahedron ( Figure 6 If the center point of the six first target points (indicated by green dotted lines and green solid lines) is located at the same position as 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.

[0041] For ease of understanding, Figures 2 to 6 Taking the above steps a1 to a3 as an example, the operation methods are described as follows.

[0042] See also Figure 2 As shown, the drone is made to fly along routes at different altitudes to collect as many signals as possible through the drone, and then the three-dimensional space covering the range of the drone's signal collection 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 a target point represents its signal strength. These three-dimensional target points are roughly divided into four categories: a) target points with a single signal acquisition, for which the signal strength is measured; b) target points with multiple signal acquisitions, for which the signal strength is measured; c) target points with no signal acquisitions, for which the signal strength is calculated; and d) target points with no signal acquisitions, for which the signal strength is not calculated. For each target point with multiple signal acquisitions, the signal strengths are averaged and used as the unique signal strength for that target point.

[0043] 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.).

[0044] 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 connecting 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 5 As 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, the mean 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, 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 strength. Figure 2 The yellow sphere represents the sphere with the target point of unknown signal strength as the center.

[0045] After calculating the signal strength of each d) target point, the remaining d) target points are used 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.

[0046] As a possible implementation, the above-mentioned drone-based information visualization method may further include:

[0047] 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.

[0048] 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.

[0049] Step 1 above can be performed by following steps 11 to 12 below:

[0050] 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.

[0051] 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 of 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 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 5G signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection.

[0052] 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 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.

[0053] Step 12: If the communication signal strength corresponding to the same intersection is less than or equal to a preset first strength threshold, then determine the optimized strength corresponding to the same intersection based on the positioning signal strength corresponding to the same intersection.

[0054] 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 of 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.

[0055] 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 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. The strength of the collected RTK signal is then used as the optimized strength corresponding to the intersection.

[0056] Step 2: Visualize the position information of the three-dimensional grid model corresponding to the flight area and the optimization intensity corresponding to each intersection to obtain visualization information.

[0057] The position information may include the flight position of each three-dimensional grid corresponding to the flight area.

[0058] The above step 2 can be performed by following steps 21 to 22:

[0059] Step 21: Generate a corresponding signal identifier for each intersection point based on the optimization strength corresponding to each intersection point.

[0060] The signal identifier can be used to represent 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.

[0061] Exemplarily, the communication signal uses 4G signal, 5G signal and image transmission signal, and the positioning signal uses RTK signal. 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.

[0062] In step 22, the optimized strength and signal identifier corresponding to the same intersection are bound, and visualization is performed based on the position information and the bound information corresponding to all intersections to obtain visualization information.

[0063] Continuing with the previous example, when a signal identifier corresponding to an intersection is generated (in this case, the first signal identifier, the second signal identifier, the third signal identifier, or the fourth signal identifier), the optimized strength corresponding to that intersection and the signal identifier can be associated to bind them together into a single piece of bound information. After associating the optimized strengths and signal identifiers corresponding to all intersections, the resulting position information and the entire bound information can be visualized to obtain visual information.

[0064] 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 step of visualizing the location information and the bound information corresponding to all the intersection points may include:

[0065] Step A1: convert the flight position corresponding to each target point into a corresponding geographical location in a preset map.

[0066] For example, 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 pre-established as a mapping relationship between the drone's flight path and the preset map. After obtaining the flight position coordinates of a certain intersection corresponding to a 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.

[0067] Step A2: determining visualization parameters of a preset map corresponding to the same target route based on the geographical location corresponding to the intersection point on the same target route and the bound information.

[0068] Exemplarily, visualization parameters can be used to generate a visual signal strength map corresponding to the same target route based on the geographic location and bound information (bound with optimized strength and signal identification) corresponding to the same intersection on the same target route in a preset map. Different colors are used to identify different types of signals on the drone's flight path in the visual signal strength map, and the brightness of the colors is used to identify the signal strength. The visual signal strength map can be generated by: dividing different types of signals with optimized strength according to signal type, and establishing a first correspondence between signal type and hue; dividing different intensity ranges of signals with optimized strength according to optimized strength, and establishing a second correspondence between intensity range and 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.

[0069] Step A3: Visualize each target route using its corresponding visualization parameters.

[0070] 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 the signal strength.

[0071] 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.

[0072] Continuing with the previous example, after obtaining the visualized signal strength graphs and map data corresponding to all target routes as visualization information of signal strength, the obtained visualization information can be displayed on the human-computer interaction interface.

[0073] 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 visual signal strength graph 201 corresponding to one route and a visual 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.

[0074] As a possible implementation method, 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.

[0075] For example, each intersection can be determined to be an operation point or a transition point. Operation points are waypoints where the drone performs photography, while transition points are waypoints where the drone only flies and does not perform photography. For a particular waypoint, if the waypoint is an operation point, the signal with the highest signal strength corresponding to the waypoint is identified using a first identification method. If the intersection point is a transition point, the signal with the signal strength closest to the average signal strength corresponding to the waypoint is identified using a second identification method. The first identification method and the second identification method are different. This operation method can identify the relatively good signals at the operation point and the transition point respectively using two different identification methods, thereby facilitating the drone to select the appropriate signal for communication along its flight path, thereby ensuring the drone's communication quality.

[0076] 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 represents the signal strength distribution of the flight path of the drone in the target area.

[0077] The first viewing operation may be performed by mouse operation, keyboard operation, touch operation, etc., and is not limited thereto.

[0078] 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 the relevant personnel want to know the signal strength distribution of the drone's flight path 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.

[0079] As a possible implementation method, 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 on a cloud platform; wherein the second target information represents the signal strength distribution of the drone's flight path corresponding to the corresponding target route within a preset time period.

[0080] Continuing with the previous example, when the electronic device obtains a visual signal strength graph and map data, the electronic device can respectively obtain the visual signal strength graph and map data in the local area where each target route is located as the second target information, and upload the visual 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 through different route identifiers. If relevant personnel want to know the signal strength distribution of the drone flight path on a specified route, they can select the specified route to trigger the electronic device to obtain the second target information corresponding to the specified route and display it through the human-computer interaction interface.

[0081] 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 superimposing and displaying the second target information corresponding to different time periods for the same target route through the human-computer interaction interface.

[0082] The second viewing operation is similar to the first viewing operation, and may be performed by mouse operation, keyboard operation, touch operation, etc., without limitation.

[0083] Since the visualization information of signal strength can be the result of measurements performed by the drone in multiple different time periods, the communication signal strength and / or positioning signal strength are sometimes measured multiple times in different time periods for the same route to generate a visualization signal strength map 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 map 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 drone 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 map and map data corresponding to the route at different time periods and superimpose multiple visualization signal strength maps corresponding to different time periods in the same area as the route on the human-computer interaction interface, so as to facilitate relevant personnel to intuitively compare the signal strength distribution of the drone flight path on the route at different time periods.

[0084] As a possible implementation method, the target route can be either a fixed route containing multiple intersections or a route dynamically generated based on an obstacle avoidance algorithm containing multiple intersections, and there is no limitation on this. For each route dynamically generated based on the obstacle avoidance algorithm, the waypoints on the route can be divided into transition waypoints (i.e., waypoints dynamically generated based on the obstacle avoidance algorithm for the drone to circumvent 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 according to whether the target route is a fixed route or a route dynamically generated based on the obstacle avoidance algorithm. The specific communication methods can be:

[0085] (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 use the signal with the largest strength as the target signal, and communication is performed according to the signal type of the target signal.

[0086] (2) If the target route is a route dynamically generated based on an obstacle avoidance algorithm and includes multiple intersections, 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, the signal with the smallest traffic consumption required for communication by the UAV is used as the target signal based on the traffic consumption required for communication, 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.

[0087] For ease of understanding, the implementation of the above-mentioned drone-based information visualization method is described below by taking a specific application as an example.

[0088] See also Figure 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 main controller 401 can send a route to the flight controller so that the flight controller can control the drone to fly according to the route. 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:

[0089] When the UAV flies to a designated waypoint, the main controller 401 can control the communication signal module of the UAV to collect the communication signal on the UAV flight path and / or control the RTK signal module to collect the RTK signal, and then the UAV measures the strength of the collected signal; 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 associates and stores the signal strength data and flight position data corresponding to the same waypoint together, and the main controller 401 sends 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 subscribes to the data, saves the data 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. The external server 404 can also query the data required for generating the signal map from the website, and then the external server 404 uses the obtained data to generate the signal map; 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.

[0090] The above-mentioned UAV-based information visualization method can mainly include the following key links:

[0091] (1) Data collection.

[0092] The communication signal module includes a 4G / 5G acquisition module for collecting 4G and 5G signals, and a video transmission signal acquisition module for collecting video transmission signals. When the UAV flies to the intersection to measure signal strength (including communication signal strength and RTK signal strength), the main controller 401 first switches to the communication signal module to collect 4G and 5G signals along the UAV's flight path and determines the strength of each of the 4G and 5G signals along the UAV's flight path. If the strength of both the 4G and 5G signals along the UAV's flight path is relatively weak (e.g., the signal strength is greater than a preset first strength threshold and less than a preset second strength threshold), the main controller 401 switches to the video transmission signal acquisition module to collect the video transmission signal along the UAV's flight path and determines the strength of the video transmission signal along the UAV's flight path. If the strength of each of the 4G, 5G, and video transmission signals along the UAV's flight path is relatively weak (e.g., the signal strength is less than the preset first strength threshold), the main controller 401 switches to the RTK signal module to collect the RTK signal along the UAV's flight path and determines the strength of the RTK signal along the UAV's flight path.

[0093] 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. It is necessary to ensure that the drone flight area covers important areas.

[0094] (2) Data processing.

[0095] 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 drone's built-in location recording module. The drone's main controller 401 associates and saves the location information and signal strength data of the same waypoint.

[0096] 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.

[0097] (3) Visualization.

[0098] The processed signal strength data is mapped to the geographic location (e.g., longitude, latitude, altitude, etc.) of the UAV's 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 a geographic location on the map to draw a visual signal strength map on the UAV's flight path. Each flight path of the UAV on the signal map corresponds to a strong signal.

[0099] In the process of generating the signal map, each flight path needs to be marked with a color to distinguish different types of signals by color. The brightness and darkness of the color of each flight path also need to be marked to distinguish signals with different intensity ranges by color brightness and darkness.

[0100] In addition, in order to ensure that each flight path of the drone on the signal map corresponds to a strong signal, the following operations may be performed during the signal map generation process: if the 4G and 5G signals collected by the drone are both weak (e.g., the signal strength is greater than a preset first strength threshold and not greater than a 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, while the 4G, 5G, and RTK signals are not marked; if both the 4G and 5G signals collected by the drone are strong (e.g., the signal strength is greater than a preset second strength threshold), then the signal with the strongest intensity among the 4G and 5G signals 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, while other signals are not marked; if the 4G, 5G, and image transmission signals collected by the drone are all weak (e.g., 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, while other signals are not marked.

[0101] The external server 404 also has an interactive function: the external server 404 provides a user interface (i.e., a human-computer interaction interface), which supports users to view signal maps within a global area and signal maps within a local area, and supports users to overlay and view signal maps generated based on signal strength data of the same route in different time periods (i.e., the user interface overlays and displays signal maps corresponding to different time periods for the same route so that users can compare the signal strength distribution of the same flight path in different time periods). It also allows users to conveniently view the signal strength distribution of each flight area in detail so as to formulate relevant plans and adjust flight plans accordingly.

[0102] (4) Optimization of communication methods.

[0103] 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 a communication method with the strongest signal to ensure smooth communication.

[0104] (5) Multi-band signal acquisition.

[0105] 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, and 3300MHz-5000MHz. The RTK signal frequency bands collected by drones mainly include: 1575.42MHz, 1227.60MHz, and 1176.45MHz. The image transmission signal frequency bands mainly use the same or similar frequency bands as Wi-Fi signals, which mainly include: 2.400GHz-2.4835GHz, 5.15GHz-5.825GHz.

[0106] 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 by frequency band to generate a signal map, so that the external server 404 supports the user interface to display the signal strength distribution of the drone's flight path according to different frequency bands, so as to meet the user's diverse needs for viewing information.

[0107] In practical applications, drones can use highly sensitive signal receiving modules to measure signal strength, enabling them to accurately measure signal strength in a variety of environments. Drones can also utilize high-precision GPS modules to record the drone's flight position in real time, correlating signal strength data with flight position at each waypoint to ensure data consistency in both time and space. Efficient communication protocols can also be used to achieve low-latency data transmission between the drone and ground station, ensuring real-time data transmission and data integrity during transmission. Drones can also integrate advanced signal processing algorithms through built-in modules to automatically remove noise and interference from collected signals, thereby improving data quality.

[0108] The beneficial effects of the above-mentioned drone-based information visualization method can be mainly reflected in the following aspects:

[0109] 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 connection or crashing, and improving the safety of drone flight.

[0110] 2) By visualizing the signal map, users can evaluate and optimize the flight path of a drone before it flies. This reduces rework due to signal issues and reduces maintenance and redeployment costs. This also extends the drone's service life by avoiding unnecessary, high-risk flights.

[0111] 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.

[0112] 4) Signal map visualization allows engineers to conduct in-depth analysis of the signal map to accurately identify areas with insufficient signal coverage and take appropriate measures (such as adding base stations and optimizing antenna directions) to improve coverage. This allows areas with insufficient signal coverage to achieve an ideal state of more uniform signal coverage and higher signal strength, thereby providing users with more stable and reliable communication services.

[0113] Based on the above-mentioned information visualization method based on drones, the embodiment of the present invention further provides an information visualization device based on drones, see Figure 10 As shown, the device may include the following modules:

[0114] A construction module 502 is configured to construct a three-dimensional grid model corresponding to the flight area of ​​the UAV; wherein the flight area includes a plurality of waypoints, and the three-dimensional grid model includes a plurality of three-dimensional grids;

[0115] A determination module 504 is configured to determine a target three-dimensional grid through which the flight route passes from the plurality of three-dimensional grids;

[0116] 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.

[0117] The display module 508 is configured to display the visual information of the signal strength in the target three-dimensional grid.

[0118] By using 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.

[0119] 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.

[0120] The determination module 504 may also be configured to: determine a first three-dimensional grid that the flight route does not pass through from the plurality of 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.

[0121] 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: use 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.

[0122] 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 surface of the sphere 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 surface of the sphere corresponding to the corresponding second target point as vertices.

[0123] 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 may 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; and 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 the visualization information.

[0124] 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.

[0125] 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 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 5G signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection.

[0126] The above-mentioned display module 508 can also be used for: for each intersection, if the intersection is an operation 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 operation 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 operation point represents the point where the drone takes pictures.

[0127] 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 embodiment of the drone-based information visualization device, reference may be made to the corresponding content in the aforementioned drone-based information visualization method embodiment.

[0128] 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.

[0129] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes 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 methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0130] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0131] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A drone-based information visualization method, 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; Determining, from the plurality of three-dimensional grids, a target three-dimensional grid through which the flight route passes and a first three-dimensional grid through which the flight route does not pass; the plurality of three-dimensional grids including a first target point of each target three-dimensional grid and a second target point of each first three-dimensional grid; 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; Taking each second target point as the sphere center, generate a corresponding sphere for each second target point, and increase the radius of the sphere with a grid as the step size until there are multiple first target points on the surface of the sphere, then stop increasing the radius of the sphere; Determine 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; 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 Acquiring, based on the flight route, a signal strength of the UAV flying to the target three-dimensional grid, including: Determining a plurality of intersection points where each target three-dimensional grid overlaps with the flight path; 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 intersection 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 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 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 located at the same position as 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 surface of the sphere corresponding to the corresponding second target point as vertices.

4. The method according to claim 2, characterized in that The communication signal includes a 4G signal, a video transmission signal and / or a 5G signal; the method further includes: 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; Visualization is performed based on the position information of the three-dimensional grid model corresponding to the flight area and the optimization strength corresponding to each intersection point to obtain the visualization information.

5. The method according to claim 4, 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, determining the optimized strength corresponding to the same intersection based on the communication signal 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.

6. The method according to claim 5, characterized in that The communication signal includes a 4G signal, a 5G signal, and a picture transmission signal; and determining the optimized strength corresponding to the same intersection based on the communication signal 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, determining the image transmission signal strength corresponding to the same intersection 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 5G signal strength corresponding to the same intersection is determined as the optimized strength corresponding to the same intersection.

7. 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.

8. An information visualization device based on a drone, characterized in that: The device comprises: A construction module, configured to construct a three-dimensional grid model corresponding to the flight area of ​​the UAV; 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 is configured to determine, from the plurality of three-dimensional grids, a target three-dimensional grid through which the flight route passes and a first three-dimensional grid through which the flight route does not pass; the plurality of three-dimensional grids includes a first target point of each target three-dimensional grid and a second target point of each first three-dimensional grid; An acquisition module is configured to: acquire, based on the flight route, a signal strength of the UAV flying to the target three-dimensional grid; wherein the signal strength includes a communication signal strength and / or a positioning signal strength; generate a corresponding sphere for each second target point with each second target point as the sphere center, and increase the radius of the sphere with a step size of one grid until the radius of the sphere stops increasing when there are multiple first target points on the surface of the sphere; determine the signal strength corresponding to the second target point based on the signal strength corresponding to the multiple first target points on the surface of the sphere corresponding to the second target point, so as to acquire the signal strength corresponding to the multiple second target points; The display module is configured to display the visual information of the signal strength in the target three-dimensional grid.

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