WO2020124356A1 - Coverage information determining method, signal coverage information determining device and unmanned aerial vehicle - Google Patents
Coverage information determining method, signal coverage information determining device and unmanned aerial vehicle Download PDFInfo
- Publication number
- WO2020124356A1 WO2020124356A1 PCT/CN2018/121727 CN2018121727W WO2020124356A1 WO 2020124356 A1 WO2020124356 A1 WO 2020124356A1 CN 2018121727 W CN2018121727 W CN 2018121727W WO 2020124356 A1 WO2020124356 A1 WO 2020124356A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- area
- scanned
- signal coverage
- coverage information
- enhanced
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000000694 effects Effects 0.000 claims description 44
- 238000005315 distribution function Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000246 remedial effect Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/06—Testing, supervising or monitoring using simulated traffic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
- B64U2101/21—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms for providing Internet access
Definitions
- the present disclosure relates to the field of communication technology, and in particular, to a signal coverage information determination method, a signal coverage information determination device, and a drone.
- the mobile network needs to detect its signal coverage effect and determine the location where the signal coverage effect does not reach the standard, so as to adjust the network deployment.
- the detection method for the signal coverage effect is to conduct manual inspection on the ground, for example, the detection person drives the vehicle to move within the signal coverage of the mobile network, and performs detection and records the detection result during the movement.
- This detection method requires manual participation, which is not only inefficient, but also severely restricted by factors such as terrain, which affects the measurement effect.
- the present disclosure provides a signal coverage information determination method, a signal coverage information determination device, and an unmanned aerial vehicle to solve technical problems in related technologies.
- a signal coverage information determination method which is applicable to a drone, and the method includes:
- the signal coverage information of the area to be scanned is constructed.
- a signal coverage information determination device which is applicable to an unmanned aerial vehicle.
- the device includes a processor, and the processor is used to:
- the signal coverage information of the area to be scanned is constructed.
- a drone including the signal coverage information determination device according to any of the above embodiments.
- the scan point is traversed by the drone to determine the signal coverage information of the scan point. Since the drone can fly without human participation, on the one hand, it is not easy to be limited by terrain, and it can easily traverse the scan point In order to determine the signal coverage information in the area to be scanned more comprehensively, on the other hand, it can automatically complete the traversal of the scanning point without human participation, and construct the signal coverage information in the area to be scanned, which is conducive to improving efficiency.
- FIG. 1 is a schematic flowchart of a method for determining signal coverage information according to an embodiment of the present disclosure.
- FIG. 2 is a schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure.
- FIG. 3 is another schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure.
- FIG. 4 is a schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure.
- FIG. 5 is a schematic flowchart of automatically generating a traversal path according to the coordinates of the scanning point according to an embodiment of the present disclosure.
- FIG. 6 is another schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure.
- FIG. 7 is a schematic flow chart of constructing the signal coverage information of the area to be scanned based on the signal coverage information of each scanning point according to an embodiment of the present disclosure.
- FIG. 8 is a schematic flowchart of another method for determining signal coverage information according to an embodiment of the present disclosure.
- FIG. 9 shows a method for determining a weak signal coverage effect in at least one area to be scanned according to the signal coverage information of each area to be scanned in at least one area to be scanned according to an embodiment of the present disclosure Schematic flow chart of coverage area.
- FIG. 10 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the first condition according to an embodiment of the present disclosure.
- Schematic flow chart of weak coverage area is another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the first condition according to an embodiment of the present disclosure.
- FIG. 11 is a schematic flowchart of still another method for determining signal coverage information according to an embodiment of the present disclosure.
- FIG. 12 shows a method for determining that the signal coverage effect in the at least one area to be scanned does not satisfy the second condition according to the signal coverage information of each area to be scanned in the at least one area to be scanned according to an embodiment of the present disclosure Schematic flowchart of the enhanced area.
- FIG. 13 is a schematic flow chart showing a drone equipped with a compensation device entering the area to be enhanced according to an embodiment of the present disclosure.
- FIG. 14 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition according to an embodiment of the present disclosure.
- FIG. 15 is another schematic flowchart of controlling a drone equipped with a compensation device to enter the area to be enhanced according to an embodiment of the present disclosure.
- FIG. 1 is a schematic flowchart of a method for determining signal coverage information according to an embodiment of the present disclosure.
- the signal coverage information determination method shown in this embodiment can be applied to a drone, and a detection device for determining signal coverage information is provided on the drone.
- the application scenarios of the embodiments of the present disclosure can also be set as needed For example, it can be applied to other unmanned aerial vehicles other than drones, and can also be applied to equipment such as unmanned vehicles and unmanned ships. The following mainly illustrates the case where the embodiments of the present disclosure are applied to drones.
- the signal detected in the embodiment shown in the present disclosure may be a signal of a 4G base station, a signal of a 5G base station, or other network signals, such as a WiFi signal, which is not limited in the present disclosure.
- the method for determining signal coverage information may include the following steps:
- Step S1 Obtain the coordinate set of the scanning points in the area to be scanned
- Step S2 controlling the drone to traverse each of the scan points to determine the signal coverage information at the scan points;
- Step S3 based on the signal coverage information of each scanning point, constructing the signal coverage information of the area to be scanned.
- the coordinate set of the scanning points in the area to be scanned may be obtained from other devices, for example, input by the user to a terminal capable of interacting with the drone and transmitted from the terminal to the drone;
- the coordinate set of the scanning points in the scanning area can also be determined by the drone itself.
- no The human-machine can calculate and determine the coordinate set of the points to be scanned in the area to be scanned by itself.
- the drone After obtaining the coordinate set of the scan points in the area to be scanned, the drone can be controlled to traverse each scan point. Among them, the drone can move based on the control signals from other devices to complete the traversal of the scan points. It may be that the UAV itself determines the path of traversing the scan points according to the distribution of the scan points, and traverses the scan points according to the calculated path.
- the UAV can detect the signal coverage information of the scan point, such as signal strength, packet loss rate, frequency band, beam, etc., through the signal detection device carried by itself, and then based on each scan point
- the signal coverage information of the area to be scanned can be constructed, for example, to generate an image of the signal coverage information of the area to be scanned, where the intensity of different signals can be represented by different colors, or a table can be generated to record each scan point and Corresponding signal coverage information.
- the scan point is traversed by the drone to determine the signal coverage information of the scan point. Since the drone can fly without human participation, on the one hand, it is not easily restricted by terrain, and the scan point can be conveniently traversed In order to determine the signal coverage information in the area to be scanned more comprehensively, on the other hand, it can automatically complete the traversal of the scanning point without human participation, and construct the signal coverage information in the area to be scanned, which is conducive to improving efficiency.
- FIG. 2 is a schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure. As shown in FIG. 2, the coordinate set of acquiring the point to be scanned includes:
- Step S11 Determine the coordinate set of the points to be scanned in the area to be scanned according to the scanning accuracy in the area to be scanned.
- the coordinate set of the scan points in the area to be scanned may be determined by the UAV itself, and for different areas to be scanned, based on the shape and scanning accuracy of the area to be scanned (of two adjacent scan points) Distance), the UAV can calculate the coordinate set of points to be scanned in the area to be scanned by its own calculation.
- the area to be scanned is a cube with a side length of 500 meters, and the scanning accuracy is 50 meters. Then, a scan point is determined every 50 meters in the area to be scanned, and a total of 11 ⁇ 11 ⁇ 11 scan points can be determined.
- FIG. 3 is another schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure. As shown in FIG. 3, the acquiring the coordinate set of the point to be scanned includes:
- Step S12 Obtain the coordinate set of the point to be scanned from other devices.
- the coordinate set of the scanning points in the area to be scanned may be obtained from other devices, for example, input by the user to a terminal capable of interacting with the drone, and transmitted from the terminal to the drone, where The UAV can actively request other devices to send the coordinate set of the point to be scanned by sending a request, or passively receive the coordinate set of the point to be scanned sent by other devices.
- FIG. 4 is a schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure. As shown in FIG. 4, the traversing each of the scan points includes:
- Step S21 automatically generating a traversal path according to the coordinates of the scanning point
- Step S22 traverse each scan point according to the traversal path
- Step S23 Acquire the signal coverage information of the scanning point.
- FIG. 5 is a schematic flowchart of automatically generating a traversal path according to the coordinates of the scanning point according to an embodiment of the present disclosure. As shown in FIG. 5, the automatically generating a traversal path according to the coordinates of the scan point includes:
- Step S211 Determine the shortest path after the coordinates of each of the scan points are connected as the traversal path.
- the path of traversing the scan points can be calculated and determined by the UAV itself, wherein the path can be automatically generated based on the principle of the shortest path, that is, when the path after the coordinates of each scan point is the shortest In order to ensure that the power consumption of the UAV traversing the scan point is as small as possible, thereby improving the endurance of the UAV.
- FIG. 6 is another schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure. As shown in FIG. 6, the traversing each of the scan points includes:
- Step S24 Determine the traversal path according to the received command
- Step S25 traverse each scan point according to the traversal path
- Step S26 Acquire signal coverage information of the scanning point.
- the path traversing the scan points can be received from other devices, such as a device that can communicate with the drone, such as the remote control of the drone, and the user can manually connect each on the touch screen of the device Scan the points to generate the traversal path, or just select the start point and end point, and the device calculates the shortest path from the start point to the end point as the traversal path.
- a device that can communicate with the drone such as the remote control of the drone
- the user can manually connect each on the touch screen of the device Scan the points to generate the traversal path, or just select the start point and end point, and the device calculates the shortest path from the start point to the end point as the traversal path.
- FIG. 7 is a schematic flow chart of constructing the signal coverage information of the area to be scanned based on the signal coverage information of each scanning point according to an embodiment of the present disclosure.
- the constructing the signal coverage information of the area to be scanned based on the signal coverage information of each of the scan points includes:
- Step S31 Determine the signal coverage information of all positions in the area to be scanned according to the signal coverage information of each of the scanning points and at least one distribution function.
- the scanning points may be directly determined to be scanned during the process of controlling the UAV to traverse each scanning point.
- the signal coverage information of the point, and for the point corresponding to the position other than the scanning point, hereinafter referred to as the target point, the distribution function can be determined according to the propagation law model of the electromagnetic signal in space, and according to the signal coverage information and the distribution function of the scanning point Calculate the signal coverage information of the target point.
- the two adjacent scan points are M and N
- the target point X is located on the line of M and N
- the distance between M and N is D
- the distance between M and X is L
- the distribution function may be as described above to sequentially determine the signal coverage information of all points in the area to be scanned. You can also choose other distribution functions according to your needs.
- the target point X is not located on the line between M and N, but is located in the rectangle formed by the four scanning points A, B, C, and D. Then, regarding the target point X
- the distribution function of the signal coverage information of is based on the reciprocal of the distance from the target point X to the four scanning points A, B, C, and D, and the signal coverage information of the four scanning points, to perform weighted summation.
- FIG. 8 is a schematic flowchart of another method for determining signal coverage information according to an embodiment of the present disclosure. As shown in FIG. 8, the method further includes:
- Step S4 according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, determine a weak coverage area in the at least one to-be-scanned area whose signal coverage effect does not satisfy the first condition;
- Step S5 Mark the weak coverage area in at least one area to be scanned.
- the signal coverage information for each area to be scanned, after determining the signal coverage information, it may be further determined whether the signal coverage information satisfies the first condition, and if the area to be scanned does not satisfy the first condition, it is marked as a weak coverage area.
- the first condition may be set as needed, and the present disclosure will be exemplarily described in subsequent embodiments.
- a weak coverage area that is, an area with poor signal coverage can be determined in a plurality of areas to be scanned.
- marking the weak coverage area it is convenient for a user to determine an area with poor signal coverage, so as to do in time Remedial measures are taken to ensure the communication effect of the equipment in the area.
- FIG. 9 shows a method for determining a weak signal coverage effect in at least one area to be scanned according to the signal coverage information of each area to be scanned in at least one area to be scanned according to an embodiment of the present disclosure Schematic flow chart of coverage area.
- the determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, the weak coverage area in which the signal coverage effect in the at least one to-be-scanned area does not satisfy the first condition includes:
- Step S41 Determine the first average value of the signal coverage information in the area to be scanned for each area to be scanned;
- Step S42 Compare the first average value of the signal coverage information of each area to be scanned with the first threshold, and determine that the area to be scanned whose first average value is less than the first threshold is the weak coverage area.
- the signal coverage information in the area to be scanned can be directly represented by all the scan points in the area to be scanned, or it can be fitted based on all the scan points in the area to be scanned to obtain the distribution function of the signal. Express signal coverage information.
- the first mean value may be obtained by adding and averaging the signal coverage information of all the scanning points in the area to be scanned; if based on the signal To express the signal coverage information, then the distribution function can be integrated in the area to be scanned and then averaged to obtain the first mean value.
- the first condition may be that the first mean value is greater than or equal to the first threshold. Based on the first mean value, the overall signal coverage in the area to be scanned can be more comprehensively reflected, and the weak coverage area determined based thereon appears as the overall signal in the area The coverage information is poor, for example, the signal strength is weak.
- FIG. 10 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the first condition according to an embodiment of the present disclosure.
- Schematic flow chart of weak coverage area As shown in FIG. 10, the determining, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, the weak coverage area in which the signal coverage effect in the at least one area to be scanned does not satisfy the first condition includes:
- Step S43 For each area to be scanned, determine that the area with the signal coverage information in the area to be scanned is less than the second threshold as the weak coverage area;
- the labeling the weak coverage area in at least one area to be scanned includes:
- Step S51 Mark the weak coverage area in each of the at least one area to be scanned.
- the signal coverage information in the area to be scanned is directly represented by all the scanning points in the area to be scanned, then it may be determined that the weak coverage of the signal coverage information is less than the second threshold value in all the scanning points in the area to be scanned Point, and then the area formed by the determined one or more weak coverage points is regarded as the weak coverage area.
- the weak coverage point the area with the distance to the weak coverage point less than the first preset distance can be used as the weak coverage area; for example, for multiple weak coverage points, the periphery of the multiple weak coverage points can be The area covered by the weak coverage point line is regarded as the weak coverage area.
- the coordinates where the signal coverage information is less than the second threshold can be determined, and then the area formed by these coordinates is determined as the weak coverage area.
- the first condition may be that the signal coverage information is greater than or equal to the second threshold. Based on the first condition, the weak coverage area may be determined in the area to be scanned according to the relationship between the signal coverage information of a partial area in the area to be scanned and the second threshold.
- the weak coverage area may be marked in each area to be scanned, so that the user can easily determine the weak coverage area.
- FIG. 11 is a schematic flowchart of still another method for determining signal coverage information according to an embodiment of the present disclosure. As shown in FIG. 11, the method further includes:
- Step S6 According to the signal coverage information of each area to be scanned in the at least one area to be scanned, determine the area to be enhanced in which the signal coverage effect in the at least one area to be scanned does not satisfy the second condition;
- step S7 the drone equipped with compensation equipment is controlled to enter the area to be enhanced, and the compensation equipment radiates signals.
- FIG. 12 shows a method for determining that the signal coverage effect in the at least one area to be scanned does not satisfy the second condition according to the signal coverage information of each area to be scanned in the at least one area to be scanned according to an embodiment of the present disclosure Schematic flowchart of the enhanced area.
- the determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, the area to be enhanced in which the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition includes:
- Step S61 Determine the second average value of the signal coverage information in the area to be scanned for each area to be scanned;
- Step S62 Compare the second average value of the signal coverage information of each area to be scanned with the third threshold, and determine that the area to be scanned whose second average value is less than the third threshold is the area to be enhanced.
- the second mean value may be obtained by adding and averaging the signal coverage information of all scanning points in the area to be scanned, or after integrating based on the distribution function of the signal coverage information of all positions in the area to be scanned It is obtained by averaging.
- the signal coverage information For each area to be scanned, after determining the signal coverage information, it may be further determined whether the signal coverage information satisfies the second condition, where the second condition may be set as needed, and the present disclosure will be exemplarily described in subsequent embodiments.
- an area to be enhanced can be determined among multiple areas to be scanned, that is, an area with poor signal coverage, where the second condition may be the same as or different from the first condition in the foregoing embodiment.
- the third threshold may be less than that corresponding to the first condition in the above embodiment
- the first threshold of, in this case, the area to be enhanced shows the overall signal coverage effect in the area, which is worse than the overall signal coverage effect in the weak coverage area, which may cause the signal coverage effect of the area to completely fail to meet the device
- the signals in the area to be enhanced need to be compensated to improve the signal coverage effect.
- the signal in the area to be enhanced can be compensated in time to ensure that the signal coverage effect in the area to be enhanced can maintain this Normal communication of devices in the area.
- the signal radiated by the base station carried by the drone may be the same as the signal type radiated by the original base station in the area to be enhanced.
- FIG. 13 is a schematic flow chart showing a drone equipped with a compensation device entering the area to be enhanced according to an embodiment of the present disclosure.
- the control of the drone equipped with compensation equipment to enter the area to be enhanced includes:
- Step S71 Control the drone equipped with compensation equipment to reach the preset position of the area to be enhanced.
- the area to be enhanced appears to have a poor overall signal coverage effect.
- the area to be enhanced can be made The signal is enhanced.
- the preset position may be the center position of the area to be enhanced, and accordingly, the signal radiated by the base station carried by the drone can better cover the entire area to be enhanced, so as to improve the overall signal in the area to be enhanced
- the coverage effect ensures that the signal coverage effect in the area meets the needs of the device for communication; or, the preset location may also be the location with the worst signal coverage in the area to be enhanced, for example, the location with the lowest signal strength.
- FIG. 14 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition according to an embodiment of the present disclosure.
- the determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, the area to be enhanced in which the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition includes:
- step S63 for each area to be scanned, it is determined that the area in the area to be scanned whose signal coverage information is less than the fourth threshold is the area to be enhanced.
- the signal coverage information in the area to be scanned is directly represented by all the scan points in the area to be scanned, then it can be determined that the signal coverage information is less than the fourth threshold to be enhanced in all the scan points in the area to be scanned Point, and then the area composed of the determined one or more points to be enhanced is taken as the area to be enhanced.
- the area to be enhanced an area whose distance to the point to be enhanced is less than the second preset distance may be used as the area to be enhanced; for example, for multiple points to be enhanced, the periphery of the multiple points to be enhanced may be The area formed by connecting the points to be enhanced is regarded as the area to be enhanced.
- the coordinates where the signal coverage information is less than the fourth threshold can be determined, and then the area formed by these coordinates is determined as the area to be enhanced.
- the second condition may be that the second signal coverage information is greater than or equal to the fourth threshold, and the area to be enhanced appears as a signal coverage effect in the area, which is worse than the signal coverage effect in the weak coverage area, which may result in signals in the area to be enhanced
- the coverage effect cannot meet the communication requirements of the device at all, so the signal in the area to be enhanced needs to be compensated to improve the signal coverage effect, and the corresponding compensation method will be exemplarily described in subsequent embodiments.
- FIG. 15 is another schematic flowchart of controlling a drone equipped with a compensation device to enter the area to be enhanced according to an embodiment of the present disclosure.
- the control of the unmanned aerial vehicle equipped with a compensation device to enter the area to be enhanced includes:
- Step S72 Control the drone equipped with compensation equipment to reach the preset position of the area to be enhanced.
- the area to be enhanced shows that the overall signal coverage effect in the area is very poor.
- the area to be enhanced can be made The signal is enhanced.
- the preset position may be the center position of the area to be enhanced, and accordingly, the signal radiated by the base station carried by the drone can better cover the entire area to be enhanced, so as to improve the overall signal in the area to be enhanced
- the coverage effect ensures that the signal coverage effect in the area meets the needs of the device for communication; or, the preset location may also be the location with the worst signal coverage in the area to be enhanced, for example, the location with the lowest signal strength.
- the compensation device in the above embodiment may be different based on the detected signal type.
- the detected signal is a 4G signal
- the compensation device is a 4G base station device, for example, the detected signal is a 5G signal
- the compensation device is For a 5G base station device, for example, the detected signal is a WiFi signal
- the compensation device is a routing device.
- the area to be scanned includes a two-dimensional space and/or a three-dimensional space.
- the signal coverage information includes at least one of the following manifestations:
- the constructed signal coverage information of the area to be scanned may be a two-dimensional image, and the area to be scanned is a three-dimensional space In this case, the constructed signal coverage information of the area to be scanned may be a three-dimensional image.
- the equipment may be provided with a telescopic device perpendicular to the plane of motion
- a detection device for determining signal coverage information may be provided on the telescopic device, and through the telescopic device, the detection device can detect the signal coverage information in a space perpendicular to the motion plane of the device.
- the present disclosure also proposes embodiments of the signal coverage information determination device.
- An embodiment of the present disclosure proposes a device for determining signal coverage information, which is applicable to an unmanned aerial vehicle.
- the device includes a processor, and the processor is used to:
- the signal coverage information of the area to be scanned is constructed.
- the processor is used to,
- the coordinate set of the points to be scanned in the area to be scanned is determined.
- the processor is used to,
- the processor is used to,
- the processor is used to,
- the signal coverage information of each scanning point and at least one distribution function is determined.
- the processor is used to,
- the shortest path after the coordinates of each of the scan points are connected is determined as the traversal path.
- the processor is used to,
- the processor is also used for,
- the processor is used to,
- the processor is used to,
- the processor is also used for,
- the drone equipped with the compensation equipment is controlled to enter the area to be enhanced, and the compensation equipment radiates signals.
- the processor is used to,
- the processor is used to,
- the processor is used to,
- the region to be scanned For each region to be scanned, it is determined that the region of the region to be scanned whose signal coverage information is less than the fourth threshold is the region to be enhanced.
- the processor is used to,
- the area to be scanned includes a two-dimensional space and/or a three-dimensional space.
- the signal coverage information includes at least one of the following manifestations:
- An embodiment of the present disclosure also proposes a drone including the signal coverage information determination device described in any one of the above embodiments.
- the operation of controlling the UAV to traverse each of the scan points can be implemented by a flight control system (referred to as a flight control system) in the UAV, where the function of the flight control system can be determined by the above signals
- a flight control system referred to as a flight control system
- the processor in the coverage information determination device may also be implemented by another processor in the drone that is different from the processor in the signal coverage information determination device.
- the system, device, module or unit explained in the above embodiments may be specifically implemented by a computer chip or entity, or implemented by a product having a certain function.
- the functions are divided into various units and described separately.
- the functions of each unit may be implemented in one or more software and/or hardware.
- the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware.
- the present disclosure may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A signal coverage information determining method, comprising: acquiring a coordinate set of scanning points in an area to be scanned; controlling an unmanned aerial vehicle to traverse each of the scanning points to determine signal coverage information of each scanning point; and according to the signal coverage information of each scanning point, building signal coverage information of the area to be scanned. Further disclosed are a signal coverage information determining device and an unmanned aerial vehicle comprising the device. The unmanned aerial vehicle is used to traverse the scanning points to determine signal coverage information of the scanning points. Because the unmanned aerial vehicle can travel without human participation, the unmanned aerial vehicle, on one hand, is less vulnerable to terrain and thus could traverse the scanning points conveniently, thereby much comprehensively determining signal coverage information of the area to be scanned, and on the other hand, can automatically complete traversing the scanning points without human participation and build the signal coverage information of the area to be scanned, thereby facilitate improving efficiency.
Description
本公开涉及通信技术领域,尤其涉及信号覆盖信息确定方法、信号覆盖信息确定装置和无人机。The present disclosure relates to the field of communication technology, and in particular, to a signal coverage information determination method, a signal coverage information determination device, and a drone.
为了保证良好的通信质量,对于移动网络需要对其信号覆盖效果进行检测,确定信号覆盖效果不达标的位置,以便对网络的部署进行调整。In order to ensure good communication quality, the mobile network needs to detect its signal coverage effect and determine the location where the signal coverage effect does not reach the standard, so as to adjust the network deployment.
目前对于信号覆盖效果的检测方式是人工在地面进行巡检,例如检测人员驾驶车辆在移动网络的信号覆盖范围内移动,并在移动过程中进行检测和记录检测结果。At present, the detection method for the signal coverage effect is to conduct manual inspection on the ground, for example, the detection person drives the vehicle to move within the signal coverage of the mobile network, and performs detection and records the detection result during the movement.
这种检测方式由于需要人工参与,不仅效率不高,而且受到地形等因素的限制较为严重,从而影响测量效果。This detection method requires manual participation, which is not only inefficient, but also severely restricted by factors such as terrain, which affects the measurement effect.
发明内容Summary of the invention
本公开提供信号覆盖信息确定方法、信号覆盖信息确定装置和无人机,以解决相关技术中的技术问题。The present disclosure provides a signal coverage information determination method, a signal coverage information determination device, and an unmanned aerial vehicle to solve technical problems in related technologies.
根据本公开实施例的第一方面,提出一种信号覆盖信息确定方法,适用于无人机,所述方法包括:According to a first aspect of an embodiment of the present disclosure, a signal coverage information determination method is proposed, which is applicable to a drone, and the method includes:
获取待扫描区域内扫描点的坐标集合;Get the coordinate set of scanning points in the area to be scanned;
控制所述无人机遍历每个所述扫描点,确定在所述扫描点的信号覆盖信息;Controlling the drone to traverse each of the scan points to determine the signal coverage information at the scan points;
基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息。Based on the signal coverage information of each scanning point, the signal coverage information of the area to be scanned is constructed.
根据本公开实施例的第二方面,提出一种信号覆盖信息确定装置,适用 于无人机,所述装置包括处理器,所述处理器用于,According to a second aspect of the embodiments of the present disclosure, a signal coverage information determination device is proposed, which is applicable to an unmanned aerial vehicle. The device includes a processor, and the processor is used to:
获取待扫描区域内扫描点的坐标集合;Get the coordinate set of scanning points in the area to be scanned;
控制所述无人机遍历每个所述扫描点,确定在所述扫描点的信号覆盖信息;Controlling the drone to traverse each of the scan points to determine the signal coverage information at the scan points;
基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息。Based on the signal coverage information of each scanning point, the signal coverage information of the area to be scanned is constructed.
根据本公开实施例的第三方面,提出一种无人机,所述无人机包括上述任一实施例所述的信号覆盖信息确定装置。According to a third aspect of the embodiments of the present disclosure, a drone is proposed, the drone including the signal coverage information determination device according to any of the above embodiments.
基于本公开的实施例,通过无人机遍历扫描点,确定扫描点的信号覆盖信息,由于无人机可以在无人工参与的情况下飞行,一方面不易受到地形限制,可以方便地遍历扫描点,从而更加全面地确定待扫描区域内的信号覆盖信息,另一方面无需人工参与也能够自动完成对扫描点的遍历,和构建所述待扫描区域的信号覆盖信息,有利于提高效率。Based on the embodiments of the present disclosure, the scan point is traversed by the drone to determine the signal coverage information of the scan point. Since the drone can fly without human participation, on the one hand, it is not easy to be limited by terrain, and it can easily traverse the scan point In order to determine the signal coverage information in the area to be scanned more comprehensively, on the other hand, it can automatically complete the traversal of the scanning point without human participation, and construct the signal coverage information in the area to be scanned, which is conducive to improving efficiency.
为了更清楚地说明本公开实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本公开的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly explain the technical solutions in the embodiments of the present disclosure, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.
图1是根据本公开的实施例示出的一种信号覆盖信息确定方法的示意流程图。FIG. 1 is a schematic flowchart of a method for determining signal coverage information according to an embodiment of the present disclosure.
图2是根据本公开的实施例示出的一种获取待扫描点的坐标集合的示意流程图。FIG. 2 is a schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure.
图3是根据本公开的实施例示出的另一种获取待扫描点的坐标集合的示意流程图。FIG. 3 is another schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure.
图4是根据本公开的实施例示出的一种遍历每个所述扫描点的示意流程 图。FIG. 4 is a schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure.
图5是根据本公开的实施例示出的一种根据所述所述扫描点的坐标自动生成遍历路径的示意流程图。FIG. 5 is a schematic flowchart of automatically generating a traversal path according to the coordinates of the scanning point according to an embodiment of the present disclosure.
图6是根据本公开的实施例示出的另一种遍历每个所述扫描点的示意流程图。FIG. 6 is another schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure.
图7是根据本公开的实施例示出的一种基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息的示意流程图。FIG. 7 is a schematic flow chart of constructing the signal coverage information of the area to be scanned based on the signal coverage information of each scanning point according to an embodiment of the present disclosure.
图8是根据本公开的实施例示出的另一种信号覆盖信息确定方法的示意流程图。FIG. 8 is a schematic flowchart of another method for determining signal coverage information according to an embodiment of the present disclosure.
图9是根据本公开的实施例示出的一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域的示意流程图。FIG. 9 shows a method for determining a weak signal coverage effect in at least one area to be scanned according to the signal coverage information of each area to be scanned in at least one area to be scanned according to an embodiment of the present disclosure Schematic flow chart of coverage area.
图10是根据本公开的实施例示出的另一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域的示意流程图。FIG. 10 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the first condition according to an embodiment of the present disclosure. Schematic flow chart of weak coverage area.
图11是根据本公开的实施例示出的又一种信号覆盖信息确定方法的示意流程图。11 is a schematic flowchart of still another method for determining signal coverage information according to an embodiment of the present disclosure.
图12是根据本公开的实施例示出的一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域的示意流程图。FIG. 12 shows a method for determining that the signal coverage effect in the at least one area to be scanned does not satisfy the second condition according to the signal coverage information of each area to be scanned in the at least one area to be scanned according to an embodiment of the present disclosure Schematic flowchart of the enhanced area.
图13是根据本公开的实施例示出的一种控制搭载补偿设备的无人机进入所述待增强区域的示意流程图。FIG. 13 is a schematic flow chart showing a drone equipped with a compensation device entering the area to be enhanced according to an embodiment of the present disclosure.
图14是根据本公开的实施例示出的另一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖 效果不满足第二条件的待增强区域的示意流程图。FIG. 14 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition according to an embodiment of the present disclosure. Schematic flow chart of the area to be enhanced.
图15是根据本公开的实施例示出的另一种控制搭载补偿设备的无人机进入所述待增强区域的示意流程图。FIG. 15 is another schematic flowchart of controlling a drone equipped with a compensation device to enter the area to be enhanced according to an embodiment of the present disclosure.
下面将结合本公开实施例中的附图,对本公开实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本公开一部分实施例,而不是全部的实施例。基于本公开中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本公开保护的范围。另外,在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。The technical solutions in the embodiments of the present disclosure will be described clearly and completely in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present disclosure. In addition, in the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.
图1是根据本公开的实施例示出的一种信号覆盖信息确定方法的示意流程图。本实施例所示的信号覆盖信息确定方法可以适用于无人机,在无人机上设置有用于确定信号覆盖信息的检测装置,除了无人机,也可以根据需要设置本公开实施例的应用场景,例如可以应用于无人机以外的其他无人飞行器,也可以应用于无人车,无人船舶等设备,以下主要在本公开的实施例应用于无人机的情况下进行示例性说明。FIG. 1 is a schematic flowchart of a method for determining signal coverage information according to an embodiment of the present disclosure. The signal coverage information determination method shown in this embodiment can be applied to a drone, and a detection device for determining signal coverage information is provided on the drone. In addition to the drone, the application scenarios of the embodiments of the present disclosure can also be set as needed For example, it can be applied to other unmanned aerial vehicles other than drones, and can also be applied to equipment such as unmanned vehicles and unmanned ships. The following mainly illustrates the case where the embodiments of the present disclosure are applied to drones.
另外,本公开所示实施例中检测的信号,可以是4G基站的信号,也可以是5G基站的信号,还可以是其他网络信号,例如WiFi信号,对此,本公开不作限制。In addition, the signal detected in the embodiment shown in the present disclosure may be a signal of a 4G base station, a signal of a 5G base station, or other network signals, such as a WiFi signal, which is not limited in the present disclosure.
如图1所示,所述信号覆盖信息确定方法可以包括以下步骤:As shown in FIG. 1, the method for determining signal coverage information may include the following steps:
步骤S1,获取待扫描区域内扫描点的坐标集合;Step S1: Obtain the coordinate set of the scanning points in the area to be scanned;
步骤S2,控制所述无人机遍历每个所述扫描点,确定在所述扫描点的信号覆盖信息;Step S2, controlling the drone to traverse each of the scan points to determine the signal coverage information at the scan points;
步骤S3,基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息。Step S3, based on the signal coverage information of each scanning point, constructing the signal coverage information of the area to be scanned.
在一个实施例中,待扫描区域内扫描点的坐标集合,可以是从其他设备 获取到的,例如由用户输入到能够与无人机交互的终端,并由该终端传输至无人机;待扫描区域内扫描点的坐标集合,也可以是由无人机自身确定的,针对不同的待扫描区域,基于待扫描区域的形状和扫描精度(两个相邻扫描点之间的距离),无人机可以由自身计算确定待扫描区域内的待扫描点的坐标集合。In one embodiment, the coordinate set of the scanning points in the area to be scanned may be obtained from other devices, for example, input by the user to a terminal capable of interacting with the drone and transmitted from the terminal to the drone; The coordinate set of the scanning points in the scanning area can also be determined by the drone itself. For different areas to be scanned, based on the shape and scanning accuracy of the area to be scanned (the distance between two adjacent scanning points), no The human-machine can calculate and determine the coordinate set of the points to be scanned in the area to be scanned by itself.
在获取到待扫描区域内扫描点的坐标集合后,可以控制无人机遍历每个扫描点,其中,无人机可以基于来自其他设备的控制信号进行运动,从而完成对扫描点的遍历,也可以是无人机自身根据扫描点的分布计算确定遍历扫描点的路径,并根据计算的路径对扫描点进行遍历。After obtaining the coordinate set of the scan points in the area to be scanned, the drone can be controlled to traverse each scan point. Among them, the drone can move based on the control signals from other devices to complete the traversal of the scan points. It may be that the UAV itself determines the path of traversing the scan points according to the distribution of the scan points, and traverses the scan points according to the calculated path.
在每个扫描点上无人机可以通过自身携带的信号检测装置检测该扫描点的信号覆盖信息,例如信号强度、丢包率、所处频段、所处波束等信息,进而基于每个扫描点的信号覆盖信息,可以构建该待扫描区域的信号覆盖信息,例如生成待扫描区域的信号覆盖信息的图像,其中,可以通过不同的颜色表示不同信号的强度,或者生成表格记录每个扫描点和对应的信号覆盖信息。At each scan point, the UAV can detect the signal coverage information of the scan point, such as signal strength, packet loss rate, frequency band, beam, etc., through the signal detection device carried by itself, and then based on each scan point The signal coverage information of the area to be scanned can be constructed, for example, to generate an image of the signal coverage information of the area to be scanned, where the intensity of different signals can be represented by different colors, or a table can be generated to record each scan point and Corresponding signal coverage information.
根据本公开的实施例,通过无人机遍历扫描点,确定扫描点的信号覆盖信息,由于无人机可以在无人工参与的情况下飞行,一方面不易受到地形限制,可以方便地遍历扫描点,从而更加全面地确定待扫描区域内的信号覆盖信息,另一方面无需人工参与也能够自动完成对扫描点的遍历,和构建所述待扫描区域的信号覆盖信息,有利于提高效率。According to an embodiment of the present disclosure, the scan point is traversed by the drone to determine the signal coverage information of the scan point. Since the drone can fly without human participation, on the one hand, it is not easily restricted by terrain, and the scan point can be conveniently traversed In order to determine the signal coverage information in the area to be scanned more comprehensively, on the other hand, it can automatically complete the traversal of the scanning point without human participation, and construct the signal coverage information in the area to be scanned, which is conducive to improving efficiency.
图2是根据本公开的实施例示出的一种获取待扫描点的坐标集合的示意流程图。如图2所示,所述获取待扫描点的坐标集合包括:FIG. 2 is a schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure. As shown in FIG. 2, the coordinate set of acquiring the point to be scanned includes:
步骤S11,根据在待扫描区域内的扫描精度,确定在所述待扫描区域内的待扫描点的坐标集合。Step S11: Determine the coordinate set of the points to be scanned in the area to be scanned according to the scanning accuracy in the area to be scanned.
在一个实施例中,待扫描区域内扫描点的坐标集合,可以是由无人机自身确定的,针对不同的待扫描区域,基于待扫描区域的形状和扫描精度(两个相邻扫描点之间的距离),无人机可以由自身计算确定待扫描区域内的待扫描点的坐标集合。例如待扫描区域为边长为500米的立方体,扫描精度为50 米,那么在待扫描区域内每隔50米确定一个扫描点,共可确定11×11×11个扫描点。In one embodiment, the coordinate set of the scan points in the area to be scanned may be determined by the UAV itself, and for different areas to be scanned, based on the shape and scanning accuracy of the area to be scanned (of two adjacent scan points) Distance), the UAV can calculate the coordinate set of points to be scanned in the area to be scanned by its own calculation. For example, the area to be scanned is a cube with a side length of 500 meters, and the scanning accuracy is 50 meters. Then, a scan point is determined every 50 meters in the area to be scanned, and a total of 11×11×11 scan points can be determined.
图3是根据本公开的实施例示出的另一种获取待扫描点的坐标集合的示意流程图。如图3所示,所述获取待扫描点的坐标集合包括:FIG. 3 is another schematic flowchart of acquiring a coordinate set of points to be scanned according to an embodiment of the present disclosure. As shown in FIG. 3, the acquiring the coordinate set of the point to be scanned includes:
步骤S12,从其他设备获取待扫描点的坐标集合。Step S12: Obtain the coordinate set of the point to be scanned from other devices.
在一个实施例中,待扫描区域内扫描点的坐标集合,可以是从其他设备获取到的,例如由用户输入到能够与无人机交互的终端,并由该终端传输至无人机,其中,无人机可以通过发送请求,主动请求其他设备发送待扫描点的坐标集合,也可以被动地接收其他设备发送待扫描点的坐标集合。In one embodiment, the coordinate set of the scanning points in the area to be scanned may be obtained from other devices, for example, input by the user to a terminal capable of interacting with the drone, and transmitted from the terminal to the drone, where The UAV can actively request other devices to send the coordinate set of the point to be scanned by sending a request, or passively receive the coordinate set of the point to be scanned sent by other devices.
图4是根据本公开的实施例示出的一种遍历每个所述扫描点的示意流程图。如图4所示,所述遍历每个所述扫描点包括:FIG. 4 is a schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure. As shown in FIG. 4, the traversing each of the scan points includes:
步骤S21,根据所述所述扫描点的坐标自动生成遍历路径;Step S21, automatically generating a traversal path according to the coordinates of the scanning point;
步骤S22,根据所述遍历路径遍历每个所述扫描点;Step S22, traverse each scan point according to the traversal path;
步骤S23,获取所述扫描点的信号覆盖信息。Step S23: Acquire the signal coverage information of the scanning point.
图5是根据本公开的实施例示出的一种根据所述所述扫描点的坐标自动生成遍历路径的示意流程图。如图5所示,所述根据所述所述扫描点的坐标自动生成遍历路径包括:FIG. 5 is a schematic flowchart of automatically generating a traversal path according to the coordinates of the scanning point according to an embodiment of the present disclosure. As shown in FIG. 5, the automatically generating a traversal path according to the coordinates of the scan point includes:
步骤S211,确定每个所述扫描点的坐标相连后最短的路径作为所述遍历路径。Step S211: Determine the shortest path after the coordinates of each of the scan points are connected as the traversal path.
在一个实施例中,遍历扫描点的路径可以由无人机自身计算确定,其中,可以基于路径最短原则,也即在每个扫描点的坐标相连后的路径最短的情况下,自动生成遍历路径,以便保证无人机遍历扫描点的功耗尽量小,从而提高无人机的续航能力。In one embodiment, the path of traversing the scan points can be calculated and determined by the UAV itself, wherein the path can be automatically generated based on the principle of the shortest path, that is, when the path after the coordinates of each scan point is the shortest In order to ensure that the power consumption of the UAV traversing the scan point is as small as possible, thereby improving the endurance of the UAV.
图6是根据本公开的实施例示出的另一种遍历每个所述扫描点的示意流程图。如图6所示,所述遍历每个所述扫描点包括:FIG. 6 is another schematic flowchart of traversing each of the scan points according to an embodiment of the present disclosure. As shown in FIG. 6, the traversing each of the scan points includes:
步骤S24,根据接收到的命令确定所述遍历路径;Step S24: Determine the traversal path according to the received command;
步骤S25,根据所述遍历路径遍历每个所述扫描点;Step S25, traverse each scan point according to the traversal path;
步骤S26,获取所述扫描点的信号覆盖信息。Step S26: Acquire signal coverage information of the scanning point.
在一个实施例中,遍历扫描点的路径可以从其他设备接收,例如从无人机的遥控器等能够与无人机通信的设备接收,用户在该设备的触控屏幕上可以手动连接每个扫描点来生成遍历路径,也可以只选择起始点和结束点,并由该设备计算从起始点到结束点最短的路径作为遍历路径。In one embodiment, the path traversing the scan points can be received from other devices, such as a device that can communicate with the drone, such as the remote control of the drone, and the user can manually connect each on the touch screen of the device Scan the points to generate the traversal path, or just select the start point and end point, and the device calculates the shortest path from the start point to the end point as the traversal path.
图7是根据本公开的实施例示出的一种基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息的示意流程图。如图7所示,所述基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息包括:FIG. 7 is a schematic flow chart of constructing the signal coverage information of the area to be scanned based on the signal coverage information of each scanning point according to an embodiment of the present disclosure. As shown in FIG. 7, the constructing the signal coverage information of the area to be scanned based on the signal coverage information of each of the scan points includes:
步骤S31,根据每个所述扫描点的信号覆盖信息,以及至少一个分布函数,确定所述待扫描区域内所有位置的信号覆盖信息。Step S31: Determine the signal coverage information of all positions in the area to be scanned according to the signal coverage information of each of the scanning points and at least one distribution function.
在一个实施例中,由于待扫描区域内除了包括扫描点,还包括扫描点以外位置对应的点,针对扫描点可以在控制所述无人机遍历每个扫描点的过程中,直接确定在扫描点的信号覆盖信息,而针对扫描点以外位置对应的点,以下称为目标点,可以根据电磁信号在空间中的传播规律模型来确定分布函数,并根据扫描点的信号覆盖信息和分布函数来计算目标点的信号覆盖信息。In an embodiment, since the area to be scanned includes not only scanning points, but also points corresponding to positions other than the scanning points, the scanning points may be directly determined to be scanned during the process of controlling the UAV to traverse each scanning point. The signal coverage information of the point, and for the point corresponding to the position other than the scanning point, hereinafter referred to as the target point, the distribution function can be determined according to the propagation law model of the electromagnetic signal in space, and according to the signal coverage information and the distribution function of the scanning point Calculate the signal coverage information of the target point.
例如相邻的两个扫描点为M和N,目标点X位于M和N的连线上,M和N之间相距D,M和X之间相距L,那么关于目标点X的信号覆盖信息可以按照如下方式构建分布函数:For example, the two adjacent scan points are M and N, the target point X is located on the line of M and N, the distance between M and N is D, and the distance between M and X is L, then the signal coverage information about the target point X The distribution function can be constructed as follows:
若M点的信号强度M(dBm)等于N点的信号强度N(dBm),那么X点的信号强度X(dBm)等于M点的信号强度M(dBm);If the signal strength M (dBm) at point M is equal to the signal strength N (dBm) at point N, then the signal strength at point X (dBm) is equal to the signal strength at point M (dBm);
若M点的信号强度M(dBm)大于N点的信号强度N(dBm),那么假设在M远离N的一侧存在一个虚拟信号源,该虚拟信号源在N和M连线的延长线上,且与M的距离为d,X点的信号强度:If the signal strength M (dBm) at point M is greater than the signal strength N (dBm) at point N, then it is assumed that there is a virtual signal source on the side of M away from N, which is on the extension line of the connection between N and M , And the distance to M is d, the signal strength at point X:
X(dBm)=M(dBm)-20lg(D+d)+20lg(L+d);X(dBm)=M(dBm)-20lg(D+d)+20lg(L+d);
若M点的信号强度M(dBm)小于N点的信号强度N(dBm),那么上式中M点和N点对调。If the signal strength M (dBm) at point M is less than the signal strength N (dBm) at point N, then point M and point N are swapped in the above formula.
需要说明的是,对于目标点不是扫描点的情况,分布函数可以如上所述,依次确定出待扫描区域中所有点的信号覆盖信息。也可以根据需要选择其他分布函数,例如目标点X并不位于M和N的连线上,而是位于四个扫描点A、B、C、D所构成的矩形之中,那么关于目标点X的信号覆盖信息的分布函数,是根据目标点X到A、B、C、D这四个扫描点的距离的倒数,和这四个扫描点的信号覆盖信息,进行加权求和。It should be noted that, for the case where the target point is not a scanning point, the distribution function may be as described above to sequentially determine the signal coverage information of all points in the area to be scanned. You can also choose other distribution functions according to your needs. For example, the target point X is not located on the line between M and N, but is located in the rectangle formed by the four scanning points A, B, C, and D. Then, regarding the target point X The distribution function of the signal coverage information of is based on the reciprocal of the distance from the target point X to the four scanning points A, B, C, and D, and the signal coverage information of the four scanning points, to perform weighted summation.
图8是根据本公开的实施例示出的另一种信号覆盖信息确定方法的示意流程图。如图8所示,所述方法还包括:FIG. 8 is a schematic flowchart of another method for determining signal coverage information according to an embodiment of the present disclosure. As shown in FIG. 8, the method further includes:
步骤S4,根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域;Step S4, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, determine a weak coverage area in the at least one to-be-scanned area whose signal coverage effect does not satisfy the first condition;
步骤S5,在至少一个待扫描区域中标注所述弱覆盖区域。Step S5: Mark the weak coverage area in at least one area to be scanned.
在一个实施例中,针对每个待扫描区域,在确定信号覆盖信息后,可以进一步确定信号覆盖信息是否满足第一条件,如果不满足第一条件的待扫描区域则被标注为弱覆盖区域。其中,第一条件可以根据需要进行设置,本公开在后续实施例中进行示例性说明。In one embodiment, for each area to be scanned, after determining the signal coverage information, it may be further determined whether the signal coverage information satisfies the first condition, and if the area to be scanned does not satisfy the first condition, it is marked as a weak coverage area. Among them, the first condition may be set as needed, and the present disclosure will be exemplarily described in subsequent embodiments.
根据第一条件可以在多个待扫描区域中确定弱覆盖区域,也即信号覆盖效果较差的区域,通过标注所述弱覆盖区域,便于用户确定信号覆盖效果较差的区域,以便及时地做出补救措施,保证该区域内设备的通信效果。According to the first condition, a weak coverage area, that is, an area with poor signal coverage can be determined in a plurality of areas to be scanned. By marking the weak coverage area, it is convenient for a user to determine an area with poor signal coverage, so as to do in time Remedial measures are taken to ensure the communication effect of the equipment in the area.
图9是根据本公开的实施例示出的一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域的示意流程图。如图9所示,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域包括:FIG. 9 shows a method for determining a weak signal coverage effect in at least one area to be scanned according to the signal coverage information of each area to be scanned in at least one area to be scanned according to an embodiment of the present disclosure Schematic flow chart of coverage area. As shown in FIG. 9, the determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, the weak coverage area in which the signal coverage effect in the at least one to-be-scanned area does not satisfy the first condition includes:
步骤S41,针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的 第一均值;Step S41: Determine the first average value of the signal coverage information in the area to be scanned for each area to be scanned;
步骤S42,比较每个待扫描区域的信号覆盖信息的第一均值与第一阈值,确定第一均值小于第一阈值的待扫描区域为所述弱覆盖区域。在一个实施例中,待扫描区域内的信号覆盖信息可以直接通过待扫描区域内的的所有扫描点进行表示,也可以基于待扫描区域内的所有扫描点进行拟合,得到信号的分布函数来表达信号覆盖信息。Step S42: Compare the first average value of the signal coverage information of each area to be scanned with the first threshold, and determine that the area to be scanned whose first average value is less than the first threshold is the weak coverage area. In one embodiment, the signal coverage information in the area to be scanned can be directly represented by all the scan points in the area to be scanned, or it can be fitted based on all the scan points in the area to be scanned to obtain the distribution function of the signal. Express signal coverage information.
其中,若直接通过待扫描区域内的所有扫描点表示待扫描区域内的信号覆盖信息,第一均值可以是根据待扫描区域内所有扫描点的信号覆盖信息进行加和求平均得到;若基于信号的分布函数来表达信号覆盖信息,那么可以在待扫描区域内对分布函数进行积分后求平均值得到第一均值。Wherein, if the signal coverage information in the area to be scanned is directly represented by all the scanning points in the area to be scanned, the first mean value may be obtained by adding and averaging the signal coverage information of all the scanning points in the area to be scanned; if based on the signal To express the signal coverage information, then the distribution function can be integrated in the area to be scanned and then averaged to obtain the first mean value.
第一条件可以是第一均值大于或等于第一阈值,基于第一均值,可以较为全面地反应待扫描区域中整体的信号覆盖情况,据此确定的弱覆盖区域,表现为区域内整体的信号覆盖信息较差,例如信号强度较弱。The first condition may be that the first mean value is greater than or equal to the first threshold. Based on the first mean value, the overall signal coverage in the area to be scanned can be more comprehensively reflected, and the weak coverage area determined based thereon appears as the overall signal in the area The coverage information is poor, for example, the signal strength is weak.
图10是根据本公开的实施例示出的另一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域的示意流程图。如图10所示,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域包括:FIG. 10 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the first condition according to an embodiment of the present disclosure. Schematic flow chart of weak coverage area. As shown in FIG. 10, the determining, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, the weak coverage area in which the signal coverage effect in the at least one area to be scanned does not satisfy the first condition includes:
步骤S43,针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第二阈值的区域为所述弱覆盖区域;Step S43: For each area to be scanned, determine that the area with the signal coverage information in the area to be scanned is less than the second threshold as the weak coverage area;
其中,所述在至少一个待扫描区域中标注所述弱覆盖区域包括:Wherein, the labeling the weak coverage area in at least one area to be scanned includes:
步骤S51,在每个所述至少一个待扫描区域内标注所述弱覆盖区域。Step S51: Mark the weak coverage area in each of the at least one area to be scanned.
在一个实施例中,若直接通过待扫描区域内的所有扫描点表示待扫描区域内的信号覆盖信息,那么可以在待扫描区域内的所有扫描点中确定信号覆盖信息小于第二阈值的弱覆盖点,进而将所确定的一个或多个弱覆盖点构成的区域作为弱覆盖区域。例如针对一个弱覆盖点而言,可以将到该弱覆盖点的距离小于第一预设距离的区域作为弱覆盖区域;例如针对多个弱覆盖点而 言,可以将多个弱覆盖点中***的弱覆盖点连线构成的区域作为弱覆盖区域。In one embodiment, if the signal coverage information in the area to be scanned is directly represented by all the scanning points in the area to be scanned, then it may be determined that the weak coverage of the signal coverage information is less than the second threshold value in all the scanning points in the area to be scanned Point, and then the area formed by the determined one or more weak coverage points is regarded as the weak coverage area. For example, for a weak coverage point, the area with the distance to the weak coverage point less than the first preset distance can be used as the weak coverage area; for example, for multiple weak coverage points, the periphery of the multiple weak coverage points can be The area covered by the weak coverage point line is regarded as the weak coverage area.
在一个实施例中,若基于信号的分布函数来确定信号覆盖信息,那么可以确定信号覆盖信息小于第二阈值的坐标,进而将这些坐标构成的区域确定为弱覆盖区域。In one embodiment, if the signal coverage information is determined based on the distribution function of the signal, the coordinates where the signal coverage information is less than the second threshold can be determined, and then the area formed by these coordinates is determined as the weak coverage area.
第一条件可以是信号覆盖信息大于或等于第二阈值,基于第一条件,可以根据待扫描区域内部分区域的信号覆盖信息与第二阈值的关系,在待扫描区域中确定弱覆盖区域。The first condition may be that the signal coverage information is greater than or equal to the second threshold. Based on the first condition, the weak coverage area may be determined in the area to be scanned according to the relationship between the signal coverage information of a partial area in the area to be scanned and the second threshold.
进一步地,每个待扫描区域中若存在弱覆盖区域,可以在每个待扫描区域中将弱覆盖区域标注出来,以便用户方便地确定弱覆盖区域。Further, if there is a weak coverage area in each area to be scanned, the weak coverage area may be marked in each area to be scanned, so that the user can easily determine the weak coverage area.
图11是根据本公开的实施例示出的又一种信号覆盖信息确定方法的示意流程图。如图11所示,所述方法还包括:11 is a schematic flowchart of still another method for determining signal coverage information according to an embodiment of the present disclosure. As shown in FIG. 11, the method further includes:
步骤S6,根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域;Step S6: According to the signal coverage information of each area to be scanned in the at least one area to be scanned, determine the area to be enhanced in which the signal coverage effect in the at least one area to be scanned does not satisfy the second condition;
步骤S7,控制搭载补偿设备的无人机进入所述待增强区域,并由所述补偿设备辐射信号。In step S7, the drone equipped with compensation equipment is controlled to enter the area to be enhanced, and the compensation equipment radiates signals.
图12是根据本公开的实施例示出的一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域的示意流程图。如图12所示,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域包括:FIG. 12 shows a method for determining that the signal coverage effect in the at least one area to be scanned does not satisfy the second condition according to the signal coverage information of each area to be scanned in the at least one area to be scanned according to an embodiment of the present disclosure Schematic flowchart of the enhanced area. As shown in FIG. 12, the determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, the area to be enhanced in which the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition includes:
步骤S61,针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的第二均值;Step S61: Determine the second average value of the signal coverage information in the area to be scanned for each area to be scanned;
步骤S62,比较每个待扫描区域的信号覆盖信息的第二均值与第三阈值,确定第二均值小于第三阈值的待扫描区域为所述待增强区域。Step S62: Compare the second average value of the signal coverage information of each area to be scanned with the third threshold, and determine that the area to be scanned whose second average value is less than the third threshold is the area to be enhanced.
在一个实施例中,第二均值可以是根据待扫描区域内所有扫描点的信号覆盖信息进行加和求平均得到,也可以是根据待扫描区域内所有位置的信号 覆盖信息的分布函数进行积分后求平均值得到的。In one embodiment, the second mean value may be obtained by adding and averaging the signal coverage information of all scanning points in the area to be scanned, or after integrating based on the distribution function of the signal coverage information of all positions in the area to be scanned It is obtained by averaging.
针对每个待扫描区域,在确定信号覆盖信息后,可以进一步确定信号覆盖信息是否满足第二条件,其中,第二条件可以根据需要进行设置,本公开在后续实施例中进行示例性说明。For each area to be scanned, after determining the signal coverage information, it may be further determined whether the signal coverage information satisfies the second condition, where the second condition may be set as needed, and the present disclosure will be exemplarily described in subsequent embodiments.
根据第二条件可以在多个待扫描区域中确定待增强区域,也即信号覆盖效果较差的区域,其中,第二条件可以与上述实施例中的第一条件相同,也可以不同。According to the second condition, an area to be enhanced can be determined among multiple areas to be scanned, that is, an area with poor signal coverage, where the second condition may be the same as or different from the first condition in the foregoing embodiment.
在第二条件与第一条件不同的情况下,例如第二条件为待扫描区域的信号覆盖信息的第二均值大于或等于第三阈值,那么第三阈值可以小于上述实施例中第一条件对应的第一阈值,在这种情况下,待增强区域表现为区域内整体的信号覆盖效果,比弱覆盖区域内整体的信号覆盖效果还差,这可能导致该区域的信号覆盖效果完全无法满足设备对于通信的需求,那么就需要对待增强区域内的信号进行补偿,以提高信号覆盖效果。When the second condition is different from the first condition, for example, the second condition is that the second average value of the signal coverage information of the area to be scanned is greater than or equal to the third threshold, then the third threshold may be less than that corresponding to the first condition in the above embodiment The first threshold of, in this case, the area to be enhanced shows the overall signal coverage effect in the area, which is worse than the overall signal coverage effect in the weak coverage area, which may cause the signal coverage effect of the area to completely fail to meet the device For communication needs, then the signals in the area to be enhanced need to be compensated to improve the signal coverage effect.
通过控制搭载补偿设备的无人机进入所述待增强区域,并由所述补偿设备辐射信号,可以及时地对待增强区域中的信号进行补偿,以保证待增强区域内的信号覆盖效果能够维持该区域内设备的正常通信。By controlling the drone equipped with compensation equipment to enter the area to be enhanced, and radiating signals from the compensation equipment, the signal in the area to be enhanced can be compensated in time to ensure that the signal coverage effect in the area to be enhanced can maintain this Normal communication of devices in the area.
其中,无人机搭载的基站所辐射的信号,与待增强区域中原有基站辐射的信号类型可以是相同的。Among them, the signal radiated by the base station carried by the drone may be the same as the signal type radiated by the original base station in the area to be enhanced.
图13是根据本公开的实施例示出的一种控制搭载补偿设备的无人机进入所述待增强区域的示意流程图。如图13所示,所述控制搭载补偿设备的无人机进入所述待增强区域包括:FIG. 13 is a schematic flow chart showing a drone equipped with a compensation device entering the area to be enhanced according to an embodiment of the present disclosure. As shown in FIG. 13, the control of the drone equipped with compensation equipment to enter the area to be enhanced includes:
步骤S71,控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Step S71: Control the drone equipped with compensation equipment to reach the preset position of the area to be enhanced.
在一个实施例中,基于图12所示的实施例,待增强区域表现为区域内整体的信号覆盖效果很差,通过控制无人机达到待增强区域的预设位置,可以使得待增强区域的信号得到增强。具体地,所述预设位置可以是待增强区域的中心位置,据此,可以使得无人机搭载的基站辐射的信号能够更好地覆盖整个待增强区域,以便提高待增强区域内整体的信号覆盖效果,保证区域内 的信号覆盖效果满足设备对于通信的需求;或者,所述预设位置还可以是待增强区域中信号覆盖最差的位置,例如信号强度最低的位置。In one embodiment, based on the embodiment shown in FIG. 12, the area to be enhanced appears to have a poor overall signal coverage effect. By controlling the drone to reach the preset position of the area to be enhanced, the area to be enhanced can be made The signal is enhanced. Specifically, the preset position may be the center position of the area to be enhanced, and accordingly, the signal radiated by the base station carried by the drone can better cover the entire area to be enhanced, so as to improve the overall signal in the area to be enhanced The coverage effect ensures that the signal coverage effect in the area meets the needs of the device for communication; or, the preset location may also be the location with the worst signal coverage in the area to be enhanced, for example, the location with the lowest signal strength.
需要说明的是,基于第二条件的不同,无人机进入待增强区域进行补偿的位置也有所不同,详见后续实施例。It should be noted that, based on the difference in the second condition, the position where the drone enters the area to be enhanced for compensation is also different. For details, see the subsequent embodiments.
图14是根据本公开的实施例示出的另一种根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域的示意流程图。如图14所示,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域包括:FIG. 14 shows another example of determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, that the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition according to an embodiment of the present disclosure. Schematic flow chart of the area to be enhanced. As shown in FIG. 14, the determining, according to the signal coverage information of each to-be-scanned area in the at least one to-be-scanned area, the area to be enhanced in which the signal coverage effect in the at least one to-be-scanned area does not satisfy the second condition includes:
步骤S63,针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第四阈值的区域为所述待增强区域。In step S63, for each area to be scanned, it is determined that the area in the area to be scanned whose signal coverage information is less than the fourth threshold is the area to be enhanced.
在一个实施例中,若直接通过待扫描区域内的所有扫描点表示待扫描区域内的信号覆盖信息,那么可以在待扫描区域内的所有扫描点中确定信号覆盖信息小于第四阈值的待增强点,进而将所确定的一个或多个待增强点构成的区域作为待增强区域。例如针对一个待增强点而言,可以将到该待增强点的距离小于第二预设距离的区域作为待增强区域;例如针对多个待增强点而言,可以将多个待增强点中***的待增强点连线构成的区域作为待增强区域。In one embodiment, if the signal coverage information in the area to be scanned is directly represented by all the scan points in the area to be scanned, then it can be determined that the signal coverage information is less than the fourth threshold to be enhanced in all the scan points in the area to be scanned Point, and then the area composed of the determined one or more points to be enhanced is taken as the area to be enhanced. For example, for a point to be enhanced, an area whose distance to the point to be enhanced is less than the second preset distance may be used as the area to be enhanced; for example, for multiple points to be enhanced, the periphery of the multiple points to be enhanced may be The area formed by connecting the points to be enhanced is regarded as the area to be enhanced.
在一个实施例中,若基于信号的分布函数来确定信号覆盖信息,那么可以确定信号覆盖信息小于第四阈值的坐标,进而将这些坐标构成的区域确定为待增强区域。In one embodiment, if the signal coverage information is determined based on the distribution function of the signal, the coordinates where the signal coverage information is less than the fourth threshold can be determined, and then the area formed by these coordinates is determined as the area to be enhanced.
第二条件可以为第二信号覆盖信息大于或等于第四阈值,待增强区域表现为区域内的信号覆盖效果,比弱覆盖区域内的信号覆盖效果还差,这可能导致待增强区域内的信号覆盖效果完全无法满足设备对于通信的需求,那么就需要对待增强区域内的信号进行补偿,以提高信号覆盖效果,相应的补偿方式在后续实施例中进行示例性说明。The second condition may be that the second signal coverage information is greater than or equal to the fourth threshold, and the area to be enhanced appears as a signal coverage effect in the area, which is worse than the signal coverage effect in the weak coverage area, which may result in signals in the area to be enhanced The coverage effect cannot meet the communication requirements of the device at all, so the signal in the area to be enhanced needs to be compensated to improve the signal coverage effect, and the corresponding compensation method will be exemplarily described in subsequent embodiments.
图15是根据本公开的实施例示出的另一种控制搭载补偿设备的无人机进入所述待增强区域的示意流程图。如图15所示,所述控制搭载补偿设备的无 人机进入所述待增强区域包括:FIG. 15 is another schematic flowchart of controlling a drone equipped with a compensation device to enter the area to be enhanced according to an embodiment of the present disclosure. As shown in FIG. 15, the control of the unmanned aerial vehicle equipped with a compensation device to enter the area to be enhanced includes:
步骤S72,控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Step S72: Control the drone equipped with compensation equipment to reach the preset position of the area to be enhanced.
在一个实施例中,基于图14所示的实施例,待增强区域表现为区域内整体的信号覆盖效果很差,通过控制无人机达到待增强区域的预设位置,可以使得待增强区域的信号得到增强。具体地,所述预设位置可以是待增强区域的中心位置,据此,可以使得无人机搭载的基站辐射的信号能够更好地覆盖整个待增强区域,以便提高待增强区域内整体的信号覆盖效果,保证区域内的信号覆盖效果满足设备对于通信的需求;或者,所述预设位置还可以是待增强区域中信号覆盖最差的位置,例如信号强度最低的位置。In one embodiment, based on the embodiment shown in FIG. 14, the area to be enhanced shows that the overall signal coverage effect in the area is very poor. By controlling the drone to reach the preset position of the area to be enhanced, the area to be enhanced can be made The signal is enhanced. Specifically, the preset position may be the center position of the area to be enhanced, and accordingly, the signal radiated by the base station carried by the drone can better cover the entire area to be enhanced, so as to improve the overall signal in the area to be enhanced The coverage effect ensures that the signal coverage effect in the area meets the needs of the device for communication; or, the preset location may also be the location with the worst signal coverage in the area to be enhanced, for example, the location with the lowest signal strength.
上述实施例中的补偿设备,基于所检测的信号类型不同可以有所不同,例如所检测的信号是4G信号,那么补偿设备为4G基站设备,例如所检测的信号是5G信号,那么补偿设备为5G基站设备,例如所检测的信号是WiFi信号,那么补偿设备为路由设备。The compensation device in the above embodiment may be different based on the detected signal type. For example, the detected signal is a 4G signal, then the compensation device is a 4G base station device, for example, the detected signal is a 5G signal, then the compensation device is For a 5G base station device, for example, the detected signal is a WiFi signal, then the compensation device is a routing device.
可选地,所述待扫描区域包括二维空间和/或三维空间。Optionally, the area to be scanned includes a two-dimensional space and/or a three-dimensional space.
可选地,所述信号覆盖信息包括以下至少一种表现形式:Optionally, the signal coverage information includes at least one of the following manifestations:
图像、表格。Images, tables.
在一个实施例中,若通过图像表示信号覆盖信息,那么在待扫描区域是二维空间的情况下,构建的待扫描区域的信号覆盖信息可以是二维图像,在待扫描区域是三维空间的情况下,构建的待扫描区域的信号覆盖信息可以是三维图像。In one embodiment, if the signal coverage information is represented by an image, then in the case where the area to be scanned is a two-dimensional space, the constructed signal coverage information of the area to be scanned may be a two-dimensional image, and the area to be scanned is a three-dimensional space In this case, the constructed signal coverage information of the area to be scanned may be a three-dimensional image.
需要说明的是,在本公开的实施例适用于无人车、无人船舶等不能飞行的设备时,若待扫描区域为三维空间,那么在设备上可以设置有垂直于运动平面的伸缩装置,用于确定信号覆盖信息的检测装置,可以设置在该伸缩装置上,通过伸缩装置,可以检测装置能够在垂直于设备运动平面的空间内检测信号覆盖信息。It should be noted that, when the embodiments of the present disclosure are applied to unmanned vehicles, unmanned ships and other non-flying equipment, if the area to be scanned is a three-dimensional space, then the equipment may be provided with a telescopic device perpendicular to the plane of motion, A detection device for determining signal coverage information may be provided on the telescopic device, and through the telescopic device, the detection device can detect the signal coverage information in a space perpendicular to the motion plane of the device.
与上述信号覆盖信息确定方法的实施例相对应地,本公开还提出了信号覆盖信息确定装置的实施例。Corresponding to the above embodiments of the signal coverage information determination method, the present disclosure also proposes embodiments of the signal coverage information determination device.
本公开的实施例提出一种信号覆盖信息确定装置,适用于无人机,所述装置包括处理器,所述处理器用于,An embodiment of the present disclosure proposes a device for determining signal coverage information, which is applicable to an unmanned aerial vehicle. The device includes a processor, and the processor is used to:
获取待扫描区域内扫描点的坐标集合;Get the coordinate set of scanning points in the area to be scanned;
控制所述无人机遍历每个所述扫描点,确定在所述扫描点的信号覆盖信息;Controlling the drone to traverse each of the scan points to determine the signal coverage information at the scan points;
基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息。Based on the signal coverage information of each scanning point, the signal coverage information of the area to be scanned is constructed.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
根据在待扫描区域内的扫描精度,确定在所述待扫描区域内的待扫描点的坐标集合。According to the scanning accuracy in the area to be scanned, the coordinate set of the points to be scanned in the area to be scanned is determined.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
从其他设备获取待扫描点的坐标集合。Obtain the coordinate set of the point to be scanned from other devices.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
根据所述所述扫描点的坐标自动生成遍历路径;Automatically generate a traversal path according to the coordinates of the scanning point;
根据所述遍历路径遍历每个所述扫描点;Traverse each scan point according to the traversal path;
获取所述扫描点的信号覆盖信息。Acquire the signal coverage information of the scanning point.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
根据每个所述扫描点的信号覆盖信息,以及至少一个分布函数,确定所述待扫描区域内所有位置的信号覆盖信息。According to the signal coverage information of each scanning point and at least one distribution function, the signal coverage information of all positions in the area to be scanned is determined.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
确定每个所述扫描点的坐标相连后最短的路径作为所述遍历路径。The shortest path after the coordinates of each of the scan points are connected is determined as the traversal path.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
根据接收到的命令确定所述遍历路径;Determine the traversal path according to the received command;
根据所述遍历路径遍历每个所述扫描点;Traverse each scan point according to the traversal path;
获取所述扫描点的信号覆盖信息。Acquire the signal coverage information of the scanning point.
在一个实施例中,所述处理器还用于,In one embodiment, the processor is also used for,
根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所 述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域;Determine, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, a weak coverage area in which the signal coverage effect in the at least one area to be scanned does not satisfy the first condition;
在至少一个待扫描区域中标注所述弱覆盖区域。Mark the weak coverage area in at least one area to be scanned.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的第一均值;Determine the first average value of the signal coverage information in the area to be scanned for each area to be scanned;
比较每个待扫描区域的信号覆盖信息的第一均值与第一阈值,确定第一均值小于第一阈值的待扫描区域为所述弱覆盖区域。Comparing the first average value of the signal coverage information of each area to be scanned with the first threshold, and determining that the area to be scanned whose first average value is less than the first threshold is the weak coverage area.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第二阈值的区域为所述弱覆盖区域;Determining, for each area to be scanned, an area in the area to be scanned whose signal coverage information is less than the second threshold as the weak coverage area;
在每个所述至少一个待扫描区域内标注所述弱覆盖区域。Mark the weak coverage area in each of the at least one area to be scanned.
在一个实施例中,所述处理器还用于,In one embodiment, the processor is also used for,
根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域;Determine, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, the area to be enhanced in which the signal coverage effect in the at least one area to be scanned does not satisfy the second condition;
控制搭载补偿设备的无人机进入所述待增强区域,并由所述补偿设备辐射信号。The drone equipped with the compensation equipment is controlled to enter the area to be enhanced, and the compensation equipment radiates signals.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的第二均值;Separately determine the second average value of the signal coverage information in the area to be scanned for each area to be scanned;
比较每个待扫描区域的信号覆盖信息的第二均值与第三阈值,确定第二均值小于第三阈值的待扫描区域为所述待增强区域。Comparing the second average value of the signal coverage information of each area to be scanned with a third threshold, and determining that the area to be scanned whose second average value is less than the third threshold is the area to be enhanced.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Control the drone equipped with the compensation equipment to reach the preset position of the area to be enhanced.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第四阈值的区域为所述待增强区域。For each region to be scanned, it is determined that the region of the region to be scanned whose signal coverage information is less than the fourth threshold is the region to be enhanced.
在一个实施例中,所述处理器用于,In one embodiment, the processor is used to,
控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Control the drone equipped with the compensation equipment to reach the preset position of the area to be enhanced.
在一个实施例中,所述待扫描区域包括二维空间和/或三维空间。In one embodiment, the area to be scanned includes a two-dimensional space and/or a three-dimensional space.
在一个实施例中,所述信号覆盖信息包括以下至少一种表现形式:In one embodiment, the signal coverage information includes at least one of the following manifestations:
图像、表格。Images, tables.
本公开的实施例还提出一种无人机,所述无人机包括上述任一实施例所述的信号覆盖信息确定装置。An embodiment of the present disclosure also proposes a drone including the signal coverage information determination device described in any one of the above embodiments.
在一个实施例中,控制无人机遍历每个所述扫描点的操作,可以通过无人机中的飞行控制***(简称飞控***)来实现,其中,飞控***的功能可以由上述信号覆盖信息确定装置中的处理器来实现,也可以由无人机中异于上述信号覆盖信息确定装置中的处理器的其他处理器来实现。In one embodiment, the operation of controlling the UAV to traverse each of the scan points can be implemented by a flight control system (referred to as a flight control system) in the UAV, where the function of the flight control system can be determined by the above signals The processor in the coverage information determination device may also be implemented by another processor in the drone that is different from the processor in the signal coverage information determination device.
上述实施例阐明的***、装置、模块或单元,具体可以由计算机芯片或实体实现,或者由具有某种功能的产品来实现。为了描述的方便,描述以上装置时以功能分为各种单元分别描述。当然,在实施本申请时可以把各单元的功能在同一个或多个软件和/或硬件中实现。本领域内的技术人员应明白,本公开的实施例可提供为方法、***、或计算机程序产品。因此,本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。The system, device, module or unit explained in the above embodiments may be specifically implemented by a computer chip or entity, or implemented by a product having a certain function. For the convenience of description, when describing the above device, the functions are divided into various units and described separately. Of course, when implementing this application, the functions of each unit may be implemented in one or more software and/or hardware. Those skilled in the art should understand that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.
本说明书中的各个实施例均采用递进的方式描述,各个实施例之间相同相似的部分互相参见即可,每个实施例重点说明的都是与其他实施例的不同之处。尤其,对于***实施例而言,由于其基本相似于方法实施例,所以描述的比较简单,相关之处参见方法实施例的部分说明即可。The embodiments in this specification are described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method embodiment.
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的 过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order. The terms "include", "include", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also others that are not explicitly listed Elements, or also include elements inherent to such processes, methods, objects, or equipment. Without more restrictions, the element defined by the sentence "include one..." does not exclude that there are other identical elements in the process, method, article or equipment that includes the element.
以上所述仅为本申请的实施例而已,并不用于限制本申请。对于本领域技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等,均应包含在本申请的权利要求范围之内。The above is only an embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, this application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the scope of the claims of this application.
Claims (35)
- 一种信号覆盖信息确定方法,其特征在于,适用于无人机,所述方法包括:A method for determining signal coverage information is characterized by being applicable to drones. The method includes:获取待扫描区域内扫描点的坐标集合;Get the coordinate set of scanning points in the area to be scanned;控制所述无人机遍历每个所述扫描点,确定在所述扫描点的信号覆盖信息;Controlling the drone to traverse each of the scan points to determine the signal coverage information at the scan points;基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息。Based on the signal coverage information of each scanning point, the signal coverage information of the area to be scanned is constructed.
- 根据权利要求1所述的方法,其特征在于,所述获取待扫描点的坐标集合包括:The method according to claim 1, wherein the acquiring the coordinate set of the point to be scanned comprises:根据在待扫描区域内的扫描精度,确定在所述待扫描区域内的待扫描点的坐标集合。According to the scanning accuracy in the area to be scanned, the coordinate set of the points to be scanned in the area to be scanned is determined.
- 根据权利要求1所述的方法,其特征在于,所述获取待扫描点的坐标集合包括:The method according to claim 1, wherein the acquiring the coordinate set of the point to be scanned comprises:从其他设备获取待扫描点的坐标集合。Obtain the coordinate set of the point to be scanned from other devices.
- 根据权利要求1所述的方法,其特征在于,所述遍历每个所述扫描点包括:The method of claim 1, wherein the traversing each of the scan points comprises:根据所述所述扫描点的坐标自动生成遍历路径;Automatically generate a traversal path according to the coordinates of the scanning point;根据所述遍历路径遍历每个所述扫描点;Traverse each scan point according to the traversal path;获取所述扫描点的信号覆盖信息。Acquire the signal coverage information of the scanning point.
- 根据权利要求4所述的方法,其特征在于,所述根据所述所述扫描点的坐标自动生成遍历路径包括:The method according to claim 4, wherein the automatically generating a traversal path according to the coordinates of the scanning point comprises:确定每个所述扫描点的坐标相连后最短的路径作为所述遍历路径。The shortest path after the coordinates of each of the scan points are connected is determined as the traversal path.
- 根据权利要求1所述的方法,其特征在于,所述遍历每个所述扫描点包括:The method of claim 1, wherein the traversing each of the scan points comprises:根据接收到的命令确定所述遍历路径;Determine the traversal path according to the received command;根据所述遍历路径遍历每个所述扫描点;Traverse each scan point according to the traversal path;获取所述扫描点的信号覆盖信息。Acquire the signal coverage information of the scanning point.
- 根据权利要求1所述的方法,其特征在于,所述基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息包括:The method according to claim 1, wherein the constructing the signal coverage information of the area to be scanned based on the signal coverage information of each of the scanning points includes:根据每个所述扫描点的信号覆盖信息,以及至少一个分布函数,确定所述待扫描区域内所有位置的信号覆盖信息。According to the signal coverage information of each scanning point and at least one distribution function, the signal coverage information of all positions in the area to be scanned is determined.
- 根据权利要求1至7中任一项所述的方法,其特征在于,所述方法还包括:The method according to any one of claims 1 to 7, wherein the method further comprises:根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域;Determine, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, a weak coverage area in which the signal coverage effect in the at least one area to be scanned does not satisfy the first condition;在至少一个待扫描区域中标注所述弱覆盖区域。Mark the weak coverage area in at least one area to be scanned.
- 根据权利要求8所述的方法,其特征在于,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域包括:The method according to claim 8, wherein, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, it is determined that the signal coverage effect in the at least one area to be scanned does not satisfy the first condition The weak coverage areas include:针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的第一均值;Determine the first average value of the signal coverage information in the area to be scanned for each area to be scanned;比较每个待扫描区域的信号覆盖信息的第一均值与第一阈值,确定第一均值小于第一阈值的待扫描区域为所述弱覆盖区域。Comparing the first average value of the signal coverage information of each area to be scanned with the first threshold, and determining that the area to be scanned whose first average value is less than the first threshold is the weak coverage area.
- 根据权利要求8所述的方法,其特征在于,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域包括:The method according to claim 8, wherein, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, it is determined that the signal coverage effect in the at least one area to be scanned does not satisfy the first condition The weak coverage areas include:针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第二阈值的区域为所述弱覆盖区域;Determining, for each area to be scanned, an area in the area to be scanned whose signal coverage information is less than the second threshold as the weak coverage area;所述在至少一个待扫描区域中标注所述弱覆盖区域包括:The marking the weak coverage area in at least one area to be scanned includes:在每个所述至少一个待扫描区域内标注所述弱覆盖区域。Mark the weak coverage area in each of the at least one area to be scanned.
- 根据权利要求1至7中任一项所述的方法,其特征在于,所述方法还包括:The method according to any one of claims 1 to 7, wherein the method further comprises:根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所 述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域;Determine, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, the area to be enhanced in which the signal coverage effect in the at least one area to be scanned does not satisfy the second condition;控制搭载补偿设备的无人机进入所述待增强区域,并由所述补偿设备辐射信号。The drone equipped with the compensation equipment is controlled to enter the area to be enhanced, and the compensation equipment radiates signals.
- 根据权利要求1至7中任一项所述的方法,其特征在于,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域包括:The method according to any one of claims 1 to 7, wherein the signal coverage in the at least one area to be scanned is determined according to the signal coverage information of each area to be scanned in the at least one area to be scanned The area to be enhanced whose effect does not satisfy the second condition includes:针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的第二均值;Separately determine the second average value of the signal coverage information in the area to be scanned for each area to be scanned;比较每个待扫描区域的信号覆盖信息的第二均值与第三阈值,确定第二均值小于第三阈值的待扫描区域为所述待增强区域。Comparing the second average value of the signal coverage information of each area to be scanned with a third threshold, and determining that the area to be scanned whose second average value is less than the third threshold is the area to be enhanced.
- 根据权利要求12所述的方法,其特征在于,所述控制搭载补偿设备的无人机进入所述待增强区域包括:The method according to claim 12, wherein the controlling the entry of the drone equipped with compensation equipment into the area to be enhanced includes:控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Control the drone equipped with the compensation equipment to reach the preset position of the area to be enhanced.
- 根据权利要求1至7中任一项所述的方法,其特征在于,所述根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域包括:The method according to any one of claims 1 to 7, wherein the signal coverage in the at least one area to be scanned is determined according to the signal coverage information of each area to be scanned in the at least one area to be scanned The area to be enhanced whose effect does not satisfy the second condition includes:针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第四阈值的区域为所述待增强区域。For each region to be scanned, it is determined that the region of the region to be scanned whose signal coverage information is less than the fourth threshold is the region to be enhanced.
- 根据权利要求14所述的方法,其特征在于,所述控制搭载补偿设备的无人机进入所述待增强区域包括:The method according to claim 14, wherein the controlling the entry of the drone equipped with compensation equipment into the area to be enhanced includes:控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Control the drone equipped with the compensation equipment to reach the preset position of the area to be enhanced.
- 根据权利要求1至7中任一项所述的方法,其特征在于,所述待扫描区域包括二维空间和/或三维空间。The method according to any one of claims 1 to 7, wherein the area to be scanned includes a two-dimensional space and/or a three-dimensional space.
- 根据权利要求1至7中任一项所述的方法,其特征在于,所述信号覆盖信息包括以下至少一种表现形式:The method according to any one of claims 1 to 7, wherein the signal coverage information includes at least one of the following manifestations:图像、表格。Images, tables.
- 一种信号覆盖信息确定装置,其特征在于,适用于无人机,所述装 置包括处理器,所述处理器用于,An apparatus for determining signal coverage information is characterized by being applicable to a drone, and the apparatus includes a processor, and the processor is used to:获取待扫描区域内扫描点的坐标集合;Get the coordinate set of scanning points in the area to be scanned;控制所述无人机遍历每个所述扫描点,确定在所述扫描点的信号覆盖信息;Controlling the drone to traverse each of the scan points to determine the signal coverage information at the scan points;基于每个所述扫描点的信号覆盖信息,构建所述待扫描区域的信号覆盖信息。Based on the signal coverage information of each scanning point, the signal coverage information of the area to be scanned is constructed.
- 根据权利要求18所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 18, wherein the processor is used to:根据在待扫描区域内的扫描精度,确定在所述待扫描区域内的待扫描点的坐标集合。According to the scanning accuracy in the area to be scanned, the coordinate set of the points to be scanned in the area to be scanned is determined.
- 根据权利要求18所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 18, wherein the processor is used to:从其他设备获取待扫描点的坐标集合。Obtain the coordinate set of the point to be scanned from other devices.
- 根据权利要求18所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 18, wherein the processor is used to:根据所述所述扫描点的坐标自动生成遍历路径;Automatically generate a traversal path according to the coordinates of the scanning point;根据所述遍历路径遍历每个所述扫描点;Traverse each scan point according to the traversal path;获取所述扫描点的信号覆盖信息。Acquire the signal coverage information of the scanning point.
- 根据权利要求21所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 21, wherein the processor is used to:确定每个所述扫描点的坐标相连后最短的路径作为所述遍历路径。The shortest path after the coordinates of each of the scan points are connected is determined as the traversal path.
- 根据权利要求18所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 18, wherein the processor is used to:根据接收到的命令确定所述遍历路径;Determine the traversal path according to the received command;根据所述遍历路径遍历每个所述扫描点;Traverse each scan point according to the traversal path;获取所述扫描点的信号覆盖信息。Acquire the signal coverage information of the scanning point.
- 根据权利要求18所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 18, wherein the processor is used to:根据每个所述扫描点的信号覆盖信息,以及至少一个分布函数,确定所述待扫描区域内所有位置的信号覆盖信息。According to the signal coverage information of each scanning point and at least one distribution function, the signal coverage information of all positions in the area to be scanned is determined.
- 根据权利要求18至24中任一项所述的装置,其特征在于,所述处理器还用于,The device according to any one of claims 18 to 24, wherein the processor is further used for,根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所 述至少一个待扫描区域中信号覆盖效果不满足第一条件的弱覆盖区域;Determine, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, a weak coverage area in which the signal coverage effect in the at least one area to be scanned does not satisfy the first condition;在至少一个待扫描区域中标注所述弱覆盖区域。Mark the weak coverage area in at least one area to be scanned.
- 根据权利要求25所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 25, wherein the processor is used to:针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的第一均值;Determine the first average value of the signal coverage information in the area to be scanned for each area to be scanned;比较每个待扫描区域的信号覆盖信息的第一均值与第一阈值,确定第一均值小于第一阈值的待扫描区域为所述弱覆盖区域。Comparing the first mean value of the signal coverage information of each area to be scanned with the first threshold, and determining that the area to be scanned whose first mean value is less than the first threshold is the weak coverage area.
- 根据权利要求25所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 25, wherein the processor is used to:针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第二阈值的区域为所述弱覆盖区域;Determining, for each area to be scanned, an area in the area to be scanned whose signal coverage information is less than the second threshold as the weak coverage area;在每个所述至少一个待扫描区域内标注所述弱覆盖区域。Mark the weak coverage area in each of the at least one area to be scanned.
- 根据权利要求19至24中任一项所述的装置,其特征在于,所述处理器还用于,The device according to any one of claims 19 to 24, wherein the processor is further used for,根据至少一个待扫描区域中的每个待扫描区域的信号覆盖信息,确定所述至少一个待扫描区域中信号覆盖效果不满足第二条件的待增强区域;Determine, according to the signal coverage information of each area to be scanned in the at least one area to be scanned, the area to be enhanced in which the signal coverage effect in the at least one area to be scanned does not satisfy the second condition;控制搭载补偿设备的无人机进入所述待增强区域,并由所述补偿设备辐射信号。The drone equipped with the compensation equipment is controlled to enter the area to be enhanced, and the compensation equipment radiates signals.
- 根据权利要求19至24中任一项所述的装置,其特征在于,所述处理器用于,The device according to any one of claims 19 to 24, wherein the processor is used to:针对每个待扫描区域分别确定待扫描区域内的信号覆盖信息的第二均值;Separately determine the second average value of the signal coverage information in the area to be scanned for each area to be scanned;比较每个待扫描区域的信号覆盖信息的第二均值与第三阈值,确定第二均值小于第三阈值的待扫描区域为所述待增强区域。Comparing the second average value of the signal coverage information of each region to be scanned with the third threshold, and determining that the region to be scanned whose second average value is less than the third threshold is the region to be enhanced.
- 根据权利要求29所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 29, wherein the processor is used to:控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Control the drone equipped with the compensation equipment to reach the preset position of the area to be enhanced.
- 根据权利要求19至24中任一项所述的装置,其特征在于,所述处理器用于,The device according to any one of claims 19 to 24, wherein the processor is used to:针对每个待扫描区域分别确定待扫描区域内信号覆盖信息小于第四阈值的区域为所述待增强区域。For each region to be scanned, it is determined that the region of the region to be scanned whose signal coverage information is less than the fourth threshold is the region to be enhanced.
- 根据权利要求31所述的装置,其特征在于,所述处理器用于,The apparatus according to claim 31, wherein the processor is used to:控制搭载补偿设备的无人机达到所述待增强区域的预设位置。Control the drone equipped with the compensation equipment to reach the preset position of the area to be enhanced.
- 根据权利要求19至24中任一项所述的装置,其特征在于,所述待扫描区域包括二维空间和/或三维空间。The device according to any one of claims 19 to 24, wherein the area to be scanned includes a two-dimensional space and/or a three-dimensional space.
- 根据权利要求19至24中任一项所述的装置,其特征在于,所述信号覆盖信息包括以下至少一种表现形式:The apparatus according to any one of claims 19 to 24, wherein the signal coverage information includes at least one of the following forms:图像、表格。Images, tables.
- 一种无人机,其特征在于,所述无人机包括权利要求18至34中任一项所述的信号覆盖信息确定装置。A drone, characterized in that the drone includes the signal coverage information determination device according to any one of claims 18 to 34.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201880068956.1A CN111295904A (en) | 2018-12-18 | 2018-12-18 | Coverage information determination method, signal coverage information determination device and unmanned aerial vehicle |
PCT/CN2018/121727 WO2020124356A1 (en) | 2018-12-18 | 2018-12-18 | Coverage information determining method, signal coverage information determining device and unmanned aerial vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2018/121727 WO2020124356A1 (en) | 2018-12-18 | 2018-12-18 | Coverage information determining method, signal coverage information determining device and unmanned aerial vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020124356A1 true WO2020124356A1 (en) | 2020-06-25 |
Family
ID=71029632
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2018/121727 WO2020124356A1 (en) | 2018-12-18 | 2018-12-18 | Coverage information determining method, signal coverage information determining device and unmanned aerial vehicle |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN111295904A (en) |
WO (1) | WO2020124356A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113739773A (en) * | 2021-09-08 | 2021-12-03 | 西安应用光学研究所 | Efficient scanning method suitable for photoelectric system of small aircraft |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20010041565A1 (en) * | 1999-12-15 | 2001-11-15 | Vicharelli Pablo A. | Method and apparatus for network planning |
CN103888972A (en) * | 2012-12-21 | 2014-06-25 | ***通信集团浙江有限公司 | Weak coverage area determination method and apparatus |
CN107371170A (en) * | 2016-05-11 | 2017-11-21 | ***通信集团黑龙江有限公司 | A kind of network coverage cavity lookup method and device |
CN107623920A (en) * | 2016-07-15 | 2018-01-23 | 中兴通讯股份有限公司 | The determination methods and device of a kind of overlapping covering of wireless network |
CN108124269A (en) * | 2016-11-28 | 2018-06-05 | ***通信有限公司研究院 | A kind of definite method and device of the network coverage |
CN108260075A (en) * | 2016-12-27 | 2018-07-06 | ***通信集团浙江有限公司 | A kind of addressing method and device of base station deployment position |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9363008B2 (en) * | 2014-07-22 | 2016-06-07 | International Business Machines Corporation | Deployment criteria for unmanned aerial vehicles to improve cellular phone communications |
CN205510268U (en) * | 2015-12-14 | 2016-08-24 | 国网浙江省电力公司信息通信分公司 | Wireless emergent communication system based on unmanned aerial vehicle |
CN108307484B (en) * | 2018-01-16 | 2022-04-26 | Oppo广东移动通信有限公司 | Connection method and device of wireless access point, mobile terminal and storage medium |
-
2018
- 2018-12-18 WO PCT/CN2018/121727 patent/WO2020124356A1/en active Application Filing
- 2018-12-18 CN CN201880068956.1A patent/CN111295904A/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20010041565A1 (en) * | 1999-12-15 | 2001-11-15 | Vicharelli Pablo A. | Method and apparatus for network planning |
CN103888972A (en) * | 2012-12-21 | 2014-06-25 | ***通信集团浙江有限公司 | Weak coverage area determination method and apparatus |
CN107371170A (en) * | 2016-05-11 | 2017-11-21 | ***通信集团黑龙江有限公司 | A kind of network coverage cavity lookup method and device |
CN107623920A (en) * | 2016-07-15 | 2018-01-23 | 中兴通讯股份有限公司 | The determination methods and device of a kind of overlapping covering of wireless network |
CN108124269A (en) * | 2016-11-28 | 2018-06-05 | ***通信有限公司研究院 | A kind of definite method and device of the network coverage |
CN108260075A (en) * | 2016-12-27 | 2018-07-06 | ***通信集团浙江有限公司 | A kind of addressing method and device of base station deployment position |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113739773A (en) * | 2021-09-08 | 2021-12-03 | 西安应用光学研究所 | Efficient scanning method suitable for photoelectric system of small aircraft |
CN113739773B (en) * | 2021-09-08 | 2024-06-07 | 西安应用光学研究所 | Efficient scanning method suitable for photoelectric system of small aircraft |
Also Published As
Publication number | Publication date |
---|---|
CN111295904A (en) | 2020-06-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10176589B2 (en) | Method and system for completing point clouds using planar segments | |
US11529739B2 (en) | Robot and operation method therefor | |
CN110366098B (en) | Target positioning method, server and base station for target positioning | |
KR20180063263A (en) | Three-dimensional space detection system, positioning method and system | |
CN105025193B (en) | Portable stereo scanner and method for generating stereo scanning result of corresponding object | |
US20150247912A1 (en) | Camera control for fast automatic object targeting | |
JP2022508135A (en) | Surveying systems, surveying methods, equipment and devices | |
US10613191B2 (en) | Object tracking and ranging | |
US8754866B2 (en) | Multi-touch detection | |
CN105700736B (en) | Input operation detection device, projection arrangement, interactive whiteboard sum number letter mark device | |
US11852960B2 (en) | System and method for image projection mapping | |
EP3759508B1 (en) | Acoustic positioning transmitter and receiver system and method | |
JP2022507715A (en) | Surveying methods, equipment and devices | |
US12067741B2 (en) | Systems and methods of measuring an object in a scene of a captured image | |
US20230115698A1 (en) | Location Determination Using Acoustic-Contextual Data | |
US10783647B2 (en) | Real-time object tracking | |
CN109525931B (en) | Method, device, equipment and storage medium for positioning wireless equipment | |
CN110149588A (en) | Determine the method, apparatus, equipment and storage medium of the position of unmanned plane base station | |
WO2020124356A1 (en) | Coverage information determining method, signal coverage information determining device and unmanned aerial vehicle | |
JP7160257B2 (en) | Information processing device, information processing method, and program | |
JP2016192693A (en) | Mobile communication device | |
CN113450414A (en) | Camera calibration method, device, system and storage medium | |
KR20170071278A (en) | Mobile terminal | |
CN113412612A (en) | Information processing apparatus, information processing method, and recording medium | |
KR20170083328A (en) | Mobile device and method for controlling the mobile device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18944126 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18944126 Country of ref document: EP Kind code of ref document: A1 |