Information transmission method and low-orbit satellite unmanned aerial vehicle suitable for intelligent inspection

Abstract

The invention provides an information transmission method and a low-earth-orbit satellite unmanned aerial vehicle suitable for intelligent inspection, the method is used for the low-earth-orbit satellite unmanned aerial vehicle, and the method comprises the steps: obtaining a three-dimensional topographic map of a target inspection area and a base station coordinate position of a control base station; determining a signal shielding boundary according to the three-dimensional topographic map and the coordinate position of the base station; when communication connection with the low-orbit satellite is carried out, a communication quality test is carried out on the control base station by going to the signal shielding boundary, and a communication test result is obtained; determining a signal switching boundary according to the communication test result and the signal shielding boundary; obtaining orbit data of the low-orbit satellite, and determining a strong communication inspection path and a weak communication inspection path according to the orbit data, the signal switching boundary and the three-dimensional topographic map; and when the unmanned aerial vehicle flies along the strong communication inspection path, the collected information is transmitted to the control base station, and when the unmanned aerial vehicle flies along the weak communication inspection path, the collected information is transmitted to the low-orbit satellite.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) communication technology, and particularly to an information transmission method and a low-earth orbit satellite UAV applicable to intelligent inspection. Background Art

[0002] With the rapid development of UAV technology and its wide application in various fields, such as agricultural monitoring, environmental detection, logistics transportation, etc., ensuring the communication reliability of UAVs in complex terrains has become a technical problem that needs to be solved urgently. Especially in complex geographical environments such as mountainous areas, signal interruption caused by mountain blockage often occurs during the flight of UAVs, which not only affects the efficiency and safety of task execution but also may pose risks of UAV out-of-control or crashing. To solve this problem, two main measures are currently taken: one is to build relay base stations on the top of mountains; the other is to use multiple UAVs to form a communication network. However, both of these methods have obvious limitations. Firstly, although building relay base stations can effectively enhance signal coverage in a specific area, its construction and maintenance costs are high, and issues such as power supply and environmental protection need to be considered. For mountainous areas with extremely harsh terrain conditions and wide distribution, this solution is difficult to be popularized on a large scale. Secondly, the method of constructing a communication network through multiple UAVs can, to a certain extent, achieve signal relay transmission and improve the flexibility and robustness of the entire system. However, it also faces high initial investment and complex coordination and management challenges. Especially when the number of UAVs is large and the flight environment is complex, how to ensure the stability and security of the network is a huge test. Summary of the Invention

[0003] This application provides an information transmission method and a low-earth orbit satellite UAV applicable to intelligent inspection, which are used to solve the relay communication problem of UAVs and ensure the stability and efficiency of UAV information transmission in the case of signal occlusion caused by obstacles.

[0004] In a first aspect, an embodiment of this application provides an information transmission method for a low-earth orbit satellite UAV. The method includes:[[]] Obtaining a three-dimensional topographic map of a target inspection area and the base station coordinate position of a control base station; Determining a signal occlusion boundary based on the three-dimensional topographic map and the base station coordinate position; When communicating with a low-earth orbit satellite, going to the signal occlusion boundary to perform a communication quality test on the control base station to obtain a communication test result; Determining a signal switching boundary based on the communication test result and the signal occlusion boundary; Obtain the orbital data of the low-earth orbit satellite, and determine the strong communication inspection path and the weak communication inspection path according to the orbital data, the signal switching boundary, and the three-dimensional topographic map; When flying along the strong communication inspection path, transmit the collected information to the control base station, and when flying along the weak communication inspection path, transmit the collected information to the low-earth orbit satellite.

[0005] In a second aspect, an information transmission device is provided according to an embodiment of the present application. The device includes: A data acquisition module, configured to acquire a three-dimensional topographic map of a target inspection area and the base station coordinate position of a control base station; A boundary calculation module, configured to determine a signal occlusion boundary according to the three-dimensional topographic map and the base station coordinate position; A communication test module, configured to perform a communication quality test on the control base station at the signal occlusion boundary when communicating with a low-earth orbit satellite to obtain a communication test result; A boundary determination module, configured to determine a signal switching boundary according to the communication test result and the signal occlusion boundary; A path determination module, configured to obtain the orbital data of the low-earth orbit satellite, and determine a strong communication inspection path and a weak communication inspection path according to the orbital data, the signal switching boundary, and the three-dimensional topographic map; An information transmission module, configured to transmit the collected information to the control base station when flying along the strong communication inspection path, and transmit the collected information to the low-earth orbit satellite when flying along the weak communication inspection path.

[0006] In a third aspect, a low-earth orbit satellite drone applicable to intelligent inspection is provided according to an embodiment of the present application. The low-earth orbit satellite drone applicable to intelligent inspection is used to execute the information transmission method according to any one of the embodiments of the present application.

[0007] In a fourth aspect, a computer-readable storage medium is provided according to an embodiment of the present application. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the information transmission method according to any one of the embodiments of the present application.

[0008] An embodiment of the present application provides an information transmission method for a low-earth orbit satellite drone. The method includes: obtaining a three-dimensional topographic map of a target inspection area and the base station coordinate position of a control base station; determining a signal occlusion boundary based on the three-dimensional topographic map and the base station coordinate position; when communicating with a low-earth orbit satellite, going to the signal occlusion boundary to perform a communication quality test on the control base station to obtain a communication test result; determining a signal handover boundary based on the communication test result and the signal occlusion boundary; obtaining the orbit data of the low-earth orbit satellite, and determining a strong communication inspection path and a weak communication inspection path based on the orbit data, the signal handover boundary, and the three-dimensional topographic map; when flying along the strong communication inspection path, transmitting the collected information to the control base station, and when flying along the weak communication inspection path, transmitting the collected information to the low-earth orbit satellite. In the above method, by obtaining the three-dimensional topographic map of the target inspection area and the coordinate position of the control base station, the signal occlusion boundary is accurately calculated, thus avoiding the signal blind area caused by uncertain terrain in the traditional method. When accessing the low-earth orbit satellite, based on the communication quality test of the signal occlusion boundary, the signal handover boundary is dynamically determined to prevent the drone communication from being interrupted due to unstable communication at the signal occlusion boundary. In addition, by combining the orbit data of the low-earth orbit satellite and the three-dimensional topographic map, a strong communication inspection path and a weak communication inspection path are intelligently planned, and different information transmission strategies are executed in different areas to ensure efficient information transmission of the drone during the entire inspection process. This method not only reduces the implementation cost but also significantly enhances the operation ability of the drone in complex terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0010] Figure 1 It is a schematic flowchart of an information transmission method provided by an embodiment of the present application; Figure 2 It is a schematic block diagram of an information transmission device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0011] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0012] The flowcharts shown in the accompanying drawings are merely illustrative examples, and do not necessarily include all content and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be decomposed, combined, or partially merged, so the actual execution order may change according to the actual situation.

[0013] It should also be understood that the terms used in the specification of this application are merely for the purpose of describing specific embodiments and are not intended to limit this application. As used in the specification of this application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0014] It should be further understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0015] Explanation of the low-earth orbit satellite network: The low-earth orbit satellite network consists of a large number of small communication satellites with an orbital altitude of about 500 - 1200 kilometers. Compared with traditional communication satellites, it has the advantages of wide coverage, low transmission delay (20 - 40 milliseconds), high communication rate (above 100 Mbps), etc., and can provide high-speed and stable communication services for low-earth orbit drones globally. The low-earth orbit drone is equipped with a low-earth orbit satellite communication module and can communicate with the low-earth orbit satellite network.

[0016] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of an information transmission method provided by an embodiment of this application. As Figure 1 shown, the specific steps of this information transmission method include: S101 - S106.

[0017] S101. Obtain the three-dimensional topographic map of the target inspection area and the base station coordinate position of the control base station.

[0018] Exemplarily, the low-earth orbit drone has its own responsible inspection area, which is the target inspection area. The content that the low-earth orbit drone can be used for inspection includes: power facilities, plants, forest fires, and natural disasters. The low-earth orbit drone can scan the target inspection area in the user-controlled mode, and with the help of the server, obtain the three-dimensional topographic map of the target inspection area and the base station coordinate position of the control base station. Before the emergence of low-earth orbit satellites, there were information transmission problems such as high latency and low rate between drones and traditional satellites. Based on low-earth orbit satellites, it has become possible for drones to work independently of the control base station and achieve stable and high-speed information transmission.

[0019] S102. Determine the signal occlusion boundary according to the three-dimensional topographic map and the base station coordinate position.

[0020] Exemplarily, due to the existence of obstacles such as mountains, the low-earth orbit satellite UAV cannot communicate stably with the control base station. Therefore, after obtaining the three-dimensional map, it is necessary to determine the signal occlusion boundary based on the three-dimensional topographic map and the coordinate position of the base station. During the calculation, existing signal propagation functions can be used to assist in the determination.

[0021] S103. When communicating with the low-earth orbit satellite, go to the signal occlusion boundary to conduct a communication quality test on the control base station to obtain the communication test results.

[0022] Exemplarily, during the automatic inspection process of the low-earth orbit satellite UAV, it is necessary to conduct a communication quality test on the control base station along the theoretically calculated signal occlusion boundary. During the communication quality test, it is necessary to ensure that the low-earth orbit satellite is accessed to avoid communication interruption and risks such as crashing during the communication quality test. Through the communication quality test, the true situation of the signal strength at the signal occlusion boundary is obtained. The low-earth orbit satellite UAV can conduct the communication quality test during non-working periods.

[0023] S104. Determine the signal switching boundary based on the communication test results and the signal occlusion boundary.

[0024] Exemplarily, after obtaining the communication test results, it is necessary to judge whether the signal of the control base station at the signal occlusion boundary is stable according to the communication test results. If the signal strength is insufficient, the signal occlusion boundary is retracted. If the signal strength is large, the signal occlusion boundary can be considered to be extended to obtain the signal switching boundary.

[0025] S105. Obtain the orbital data of the low-earth orbit satellite, and determine the strong communication inspection path and the weak communication inspection path based on the orbital data, the signal switching boundary, and the three-dimensional topographic map.

[0026] Exemplarily, before the low-earth orbit satellite UAV executes the inspection task, it is necessary to determine the low-earth orbit satellites that can provide services during the execution of the inspection task according to the orbital data. The low-earth orbit satellite UAV plans the strong communication inspection path and the weak communication inspection area path according to the service windows that these satellites can provide. These two paths can be alternating. For example, during the inspection task, there are the first service window and the second service window of the low-earth orbit satellite. If the first service window and the second service window are not continuous, then plan the first weak communication inspection route in the first service window, plan the second weak communication inspection route in the second service window, and plan the first strong communication inspection route between the first service window and the second service window. The end of the first weak communication inspection route is connected to the beginning of the first strong communication inspection route, and the end of the first strong communication inspection route is connected to the beginning of the second weak communication inspection route.

[0027] S106. When flying along the strong communication inspection path, transmit the collected information to the control base station. When flying along the weak communication inspection path, transmit the collected information to the low-earth orbit satellite.

[0028] Exemplarily, when flying in different regions, different information transmission strategies are executed, which is also beneficial for energy conservation and can ensure the stability of signal transmission.

[0029] The embodiment of the present application provides an information transmission method for a low-earth orbit satellite unmanned aerial vehicle. The method includes: obtaining the three-dimensional topographic map of the target inspection area and the base station coordinate position of the control base station; determining the signal occlusion boundary according to the three-dimensional topographic map and the base station coordinate position; when communicating with the low-earth orbit satellite, go to the signal occlusion boundary to perform a communication quality test on the control base station to obtain a communication test result; determining the signal switching boundary according to the communication test result and the signal occlusion boundary; obtaining the orbital data of the low-earth orbit satellite, and determining the strong communication inspection path and the weak communication inspection path according to the orbital data, the signal switching boundary and the three-dimensional topographic map; when flying along the strong communication inspection path, transmit the collected information to the control base station, and when flying along the weak communication inspection path, transmit the collected information to the low-earth orbit satellite. In the above method, by obtaining the three-dimensional topographic map of the target inspection area and the coordinate position of the control base station, the signal occlusion boundary is accurately calculated, thus avoiding the signal blind area caused by uncertain terrain in the traditional method. When accessing the low-earth orbit satellite, based on the communication quality test of the signal occlusion boundary, the signal switching boundary is dynamically determined to prevent the communication interruption of the unmanned aerial vehicle due to unstable communication at the signal occlusion boundary. In addition, combining the orbital data of the low-earth orbit satellite and the three-dimensional topographic map, the strong communication inspection path and the weak communication inspection path are intelligently planned, and different information transmission strategies are executed in different regions to ensure the efficient information transmission of the unmanned aerial vehicle during the entire inspection process. This method not only reduces the implementation cost but also significantly enhances the operation ability of the unmanned aerial vehicle in complex terrains.

[0030] To more clearly introduce the technical solution of the present application, the technical solution of the present application will also be introduced through specific embodiments below. It should be noted that the specific embodiment is used to expand the description of the technical solution of the present application and does not limit the present application.

[0031] In some embodiments, before obtaining the three-dimensional topographic map of the target inspection area and the base station coordinate position of the control base station, the method further includes: scanning the target inspection area to obtain the three-dimensional point cloud data of the target inspection area; sending the three-dimensional point cloud data to the server so that the server generates a three-dimensional topographic map according to the three-dimensional point cloud data.

[0032] Specifically, before the formal inspection, the target area is scanned to obtain high-precision three-dimensional point cloud data, which is then uploaded to the server to generate a detailed three-dimensional topographic map. This process not only ensures the accuracy and comprehensiveness of the topographic information, providing reliable data support for the determination of the signal occlusion boundary in the subsequent process, but also effectively avoids the problem of signal blind spots caused by inaccurate topographic data. In this way, the drone can fully understand the topographic characteristics before the inspection, reasonably plan the flight route, reduce the risk of unnecessary signal interruption, improve the execution efficiency and safety of the inspection task. At the same time, this method reduces the dependence on expensive infrastructure, lowers the overall implementation cost, and enhances the adaptability and flexibility of the system.

[0033] In some embodiments, determining the signal occlusion boundary based on the three-dimensional topographic map and the base station coordinate position includes: determining the occluding obstacles according to a preset signal propagation algorithm, the topographic map, and the base station coordinate position; determining the horizontal and vertical boundaries of the occluding area according to the base station coordinate position and the occluding obstacles; and generating the signal occlusion boundary according to the horizontal and vertical boundaries.

[0034] Exemplarily, the low-earth orbit satellite drone uses a preset signal propagation algorithm in combination with the three-dimensional topographic map and the base station coordinate position to accurately identify the obstacles that occlude the signal. This step ensures a comprehensive consideration of the topographic influencing factors. Based on the base station coordinate position and the identified occluding obstacles, the low-earth orbit satellite drone calculates the specific horizontal and vertical boundaries of the occluding area. This process realizes a refined division of the signal occlusion range. Combining the horizontal and vertical boundary information, a complete signal occlusion boundary is generated, providing a scientific basis for the drone to plan a safe and effective flight path. This method not only improves the communication stability of the drone during flight, but also reduces the dependence on additional relay base stations, lowers the implementation cost, and enhances the applicability and reliability of the system in complex terrains.

[0035] In some embodiments, when communicating with the low-earth orbit satellite, a communication quality test is performed on the control base station at the signal occlusion boundary to obtain the communication test result. The specific steps include: S1031 - S1036.

[0036] S1031. Divide the signal occlusion boundary into multiple flight test segments, conduct communication tests along the flight test segments, and obtain the first communication power value corresponding to the flight test segments.

[0037] Exemplarily, during the communication test of the signal occlusion boundary, the test is carried out in segments to facilitate considering whether to retract or extend the flight test segments according to the actual test results of the flight test segments.

[0038] S1032. If the first communication power values in the flight test section are all not less than the preset communication power threshold, an amplified test section is generated according to the preset amplification range and the flight test section.

[0039] Exemplarily, the preset communication power threshold is the lower limit value for communication stability evaluation. If, in a flight test section, all the first communication power values are not less than the preset communication power threshold, then it can be considered to extend this flight test section.

[0040] S1033. Fly along the amplified test section, obtain the second communication power values corresponding to the amplified test section, and determine the first communication stability value corresponding to the amplified test section according to the second communication power values.

[0041] Exemplarily, after extending the flight test section, a communication quality test is carried out again according to the amplified test section. When evaluating whether the amplified test section can replace the corresponding flight test section, its communication stability also needs to be considered.

[0042] S1034. If there are multiple first communication power values in the flight test section that are less than the preset communication power threshold, a reduced test section is generated according to the preset reduction range and the flight test section.

[0043] Exemplarily, if, in a flight test section, within a preset length of distance, the second communication power values are all less than the preset communication power threshold, then it can be considered to reduce this flight test section.

[0044] S1035. Fly along the reduced test section, obtain the third communication power values corresponding to the reduced test section, and determine the second communication stability value corresponding to the reduced test section according to the third communication power values.

[0045] S1036. Generate a communication test result according to the flight test section, the first communication power values, the amplified test section, the second communication power values, the first communication stability value, the reduced test section, the third communication power values, and the second communication stability value.

[0046] In some embodiments, determining the signal switching boundary according to the communication test result and the signal occlusion boundary includes: determining the first replacement section from the amplified test section according to the second communication power values and the first communication stability value; determining the second replacement section from the reduced test section according to the third communication power values and the second communication stability value; Determining the signal switching boundary according to the first replacement section, the second replacement section, and the flight test section.

[0047] Exemplarily, when the second communication power values are all not less than a preset communication power threshold and the first communication stability value is above the preset stability value, in this way, to ensure the signal strength and signal stability after replacement, this amplified test section can be used as the first replacement section of the original flight test section. The determination process of the second replacement section is the same and will not be elaborated here.

[0048] In some embodiments, flying along the amplified test section to obtain the second communication power value corresponding to the amplified test section, and determining the first communication stability value corresponding to the amplified test section according to the second communication power value includes: taking the duration during which the second communication power value is higher than the preset power stability threshold as the first duration, and taking the duration during which the second communication power value is lower than the preset power stability threshold as the second duration; determining the first communication stability value according to the ratio of the first duration to the second duration.

[0049] Exemplarily, by flying along the amplified test section and obtaining the communication power value, combined with the preset power stability threshold, calculating the duration ratio of being higher and lower than the threshold, so as to determine the communication stability value. This method can quantitatively evaluate the communication quality on different flight paths, provide data support for optimizing the UAV flight route, effectively avoid the problem of signal instability caused by terrain occlusion, and improve the communication reliability and task execution efficiency of the UAV in complex environments.

[0050] In some embodiments, obtaining the orbital data of the low-earth orbit satellite, and determining the strong communication inspection path and the weak communication inspection path according to the orbital data, the signal switching boundary and the three-dimensional topographic map includes: taking the area on the side of the signal switching boundary close to the base station coordinate position as the strong communication area; taking the area on the side of the signal switching boundary far from the base station coordinate position as the weak communication area; determining the first inspection time period of the strong communication area according to the orbital data, and determining the second inspection time period of the weak communication area; determining the strong communication inspection path according to the preset path planning algorithm, the first inspection time period and the three-dimensional topographic map; determining the weak communication inspection path according to the preset path planning algorithm, the second inspection time period and the three-dimensional topographic map.

[0051] Exemplarily, by integrating the orbital data of low-earth orbit satellites, signal switching boundaries, and three-dimensional topographic maps, strong communication areas and weak communication areas are accurately demarcated. Then, the optimal inspection time periods and inspection paths for these two areas are determined respectively, fundamentally solving the problem of unstable communication of drones in complex terrains. The side of the signal switching boundary close to the base station coordinate position is defined as the strong communication area, while the side far from the base station is the weak communication area. Such a demarcation method is based on the actual signal strength change, ensuring the communication quality of drones in different areas. The inspection time periods for the strong communication area and the weak communication area are determined according to the orbital data of low-earth orbit satellites, enabling the drone to execute tasks during the time period with the best signal, further improving the stability and efficiency of communication. Combining the preset path planning algorithm, inspection time periods, and three-dimensional topographic maps, the strong communication inspection path and the weak communication inspection path are calculated respectively. Specifically, the weak communication inspection path needs to ensure that the low-earth orbit satellite drone works when entering the weak communication inspection area at the satellite service window and returns to the strong communication inspection path to work before the end of the satellite service window. This process not only considers the influence of terrain obstacles on signals but also optimizes the flight route of the drone, reducing unnecessary flight distances and time consumption, and improving the quality and speed of task completion. In this way, the drone can more flexibly respond to various environmental changes during task execution, ensuring efficient communication connection even under complex terrain conditions and reducing the risk of task failure caused by signal problems.

[0052] In some embodiments, when flying along the weak communication inspection path, the method further includes: if it is detected that the communication power value of the low-earth orbit satellite is lower than a preset communication power threshold, suspend the inspection task, hover and wait, or return to the strong communication inspection path according to the weak communication inspection path.

[0053] The above technical solution monitors the communication power value of the low-earth orbit satellite in real time. When it is detected that the value is lower than the preset threshold, the drone can choose to suspend the inspection task and hover and wait, or return to the strong communication area according to the predetermined path. This method ensures the operation safety of the drone in the weak communication area and the stability of data transmission, avoiding data loss or task failure caused by too weak signals, and improving the reliability and efficiency of task execution.

[0054] Please refer to Figure 2 , Figure 2 FIG. is a schematic block diagram of an information transmission device provided by an embodiment of the present application. The information transmission device 200 is used to execute the foregoing information transmission method. Among them, the information transmission device 200 can be configured in a server.

[0055] Among them, the server can be an independent server, a server cluster, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.

[0056] As Figure 2 shown, the information transmission device 200 includes: a data acquisition module 201, a boundary calculation module 202, a communication test module 203, a boundary determination module 204, a path determination module 205, and an information transmission module 206.

[0057] The data acquisition module 201 is used to acquire the three-dimensional topographic map of the target inspection area and the base station coordinate position of the control base station.

[0058] The boundary calculation module 202 is used to determine the signal occlusion boundary according to the three-dimensional topographic map and the base station coordinate position.

[0059] The communication test module 203 is used to perform a communication quality test on the control base station at the signal occlusion boundary when communicating with a low-earth orbit satellite, and obtain a communication test result.

[0060] The boundary determination module 204 is used to determine the signal switching boundary according to the communication test result and the signal occlusion boundary.

[0061] The path determination module 205 is used to acquire the orbital data of the low-earth orbit satellite, and determine a strong communication inspection path and a weak communication inspection path according to the orbital data, the signal switching boundary, and the three-dimensional topographic map.

[0062] The information transmission module 206 is used to transmit the collected information to the control base station when flying along the strong communication inspection path, and transmit the collected information to the low-earth orbit satellite when flying along the weak communication inspection path.

[0063] The embodiment of the present application provides a low-earth orbit satellite drone applicable to intelligent inspection, and the low-earth orbit satellite drone applicable to intelligent inspection is used to execute the information transmission method described in any one of the embodiments of the present application.

[0064] The embodiment of the present application provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor is enabled to implement the information transmission method described in any one of the embodiments of the present application.

[0065] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An information transmission method, characterized in that: For a low-orbit satellite drone, the method comprises: Obtain the three-dimensional topographic map of the target inspection area and the base station coordinates of the control base station; Determine a signal blocking boundary according to the three-dimensional topographic map and the base station coordinate position; When establishing a communication connection with a low-orbit satellite, proceed to the signal shielding boundary to perform a communication quality test on the control base station to obtain a communication test result; Determine a signal switching boundary according to the communication test result and the signal blocking boundary; Acquire the orbital data of the low-orbit satellite, and determine a strong communication inspection path and a weak communication inspection path according to the orbital data, the signal switching boundary and the three-dimensional terrain map; When flying along the strong communication inspection path, the collected information is transmitted to the control base station, and when flying along the weak communication inspection path, the collected information is transmitted to the low-orbit satellite.

2. The information transmission method according to claim 1, characterized in that: Before obtaining the three-dimensional topographic map of the target inspection area and the base station coordinate position of the control base station, the method further includes: Scanning the target inspection area to obtain three-dimensional point cloud data of the target inspection area; The three-dimensional point cloud data is sent to a server so that the server generates the three-dimensional terrain map according to the three-dimensional point cloud data.

3. The information transmission method according to claim 1, characterized in that: The step of determining the signal blocking boundary according to the three-dimensional topographic map and the base station coordinate position includes: Determine the blocking obstacle according to a preset signal propagation algorithm, the topographic map and the base station coordinate position; Determine the horizontal boundary and the vertical boundary of the blocking area according to the coordinate position of the base station and the blocking obstacle; The signal blocking boundary is generated according to the horizontal boundary and the vertical boundary.

4. The information transmission method according to claim 3, characterized in that: When the communication connection is established with the low-orbit satellite, going to the signal shielding boundary to perform a communication quality test on the control base station to obtain a communication test result includes: Divide the signal shielding boundary into a plurality of flight test sections, perform communication tests along the flight test sections, and obtain first communication power values ​​corresponding to the flight test sections; If the first communication power values ​​of the flight test segments are not less than a preset communication power threshold, generating an amplification test segment according to a preset amplification range and the flight test segment; Flying along the amplification test segment, acquiring a second communication power value corresponding to the amplification test segment, and determining a first communication stability value corresponding to the amplification test segment according to the second communication power value; If there are multiple first communication power values ​​of the flight test segment that are less than a preset communication power threshold, generating a reduced test segment according to a preset reduction range and the flight test segment; Flying along the reduced test section, acquiring a third communication power value corresponding to the reduced test section, and determining a second communication stability value corresponding to the reduced test section according to the third communication power value; The communication test result is generated according to the flight test segment, the first communication power value, the expansion test segment, the second communication power value, the first communication stability value, the reduction test segment, the third communication power value and the second communication stability value.

5. The information transmission method according to claim 4, characterized in that: Determining a signal switching boundary according to the communication test result and the signal blocking boundary includes: determining a first replacement segment from the amplified test segment according to the second communication power value and the first communication stability value; determining a second replacement segment from the reduced test segment according to the third communication power value and the second communication stability value; The signal switching boundary is determined according to the first replacement segment, the second replacement segment, and the flight test segment.

6. The information transmission method according to claim 4, characterized in that: The flying along the amplification test segment, acquiring a second communication power value corresponding to the amplification test segment, and determining a first communication stability value corresponding to the amplification test segment according to the second communication power value, comprises: The duration during which the second communication power value is higher than a preset power stability threshold is used as a first duration, and the duration during which the second communication power value is lower than a preset power stability threshold is used as a second duration; The first communication stability value is determined according to a ratio of the first time length to the second time length.

7. The information transmission method according to claim 1, characterized in that: The acquiring the orbital data of the low-orbit satellite and determining the strong communication inspection path and the weak communication inspection path according to the orbital data, the signal switching boundary and the three-dimensional terrain map include: The area on one side of the signal switching boundary close to the coordinate position of the base station is regarded as a strong communication area; The area on one side of the signal switching boundary away from the coordinate position of the base station is regarded as a weak communication area; Determine a first inspection time period of the strong communication area according to the track data, and determine a second inspection time period of the weak communication area; Determine the strong communication inspection path according to a preset path planning algorithm, a first inspection time period and the three-dimensional terrain map; The weak communication inspection path is determined according to a preset path planning algorithm, a second inspection time period and the three-dimensional terrain map.

8. The information transmission method according to claim 1, characterized in that: While flying along the weak communication inspection path, the method further includes: If it is detected that the communication power value of the low-orbit satellite is lower than a preset communication power threshold, the inspection task is suspended, the system hovers and waits, or returns to the strong communication inspection path according to the weak communication inspection path.

9. A low-orbit satellite drone suitable for intelligent inspection, characterized in that: The low-orbit satellite drone suitable for intelligent inspection is used to execute the information transmission method as described in any one of claims 1 to 8.

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