CN112484704A - Rapid mapping method and device - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention provides a rapid surveying and mapping method and a rapid surveying and mapping device, which relate to the technical field of unmanned aerial vehicle surveying and mapping, and comprise the steps of determining initial surveying and mapping information of an operation land on an electronic map according to the operation land, wherein the initial surveying and mapping information comprises target surveying and mapping points; planning a flight path of the unmanned aerial vehicle based on the target mapping point, wherein the flight path is a path traversing the target mapping point; controlling the unmanned aerial vehicle to hover above the target surveying and mapping point according to the flight path and returning image data; calibrating the target mapping points in real time based on actual position information corresponding to the image data until the target mapping points in the flight path are calibrated; the accurate mapping information of the operation plot is determined based on the calibrated target mapping points, the aim of automatically calibrating the target mapping points in real time is achieved through the image data returned by the unmanned aerial vehicle, and the mapping efficiency is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, in particular to a rapid surveying and mapping method and device.
Background
Before using unmanned aerial vehicle to spout the medicine, generally need survey and drawing the operation plot, obtain accurate positional information. At present, manual mapping and automatic aerial mapping can be adopted so as to plan the flight path according to the operation plot. Wherein, artifical survey and drawing efficiency is lower, and automatic aerial photography survey and drawing is because the data volume is big, and the operating time is long, increases equipment cost and personnel work load, is unfavorable for spraying the operation fast and uses.
Nowadays, generally before aerial photography and surveying, an image control point positioning target is arranged in an operation plot to carry out positioning and calibration on the aerial photography and surveying, so that the surveying and surveying precision of an aerial photography unmanned aerial vehicle is improved.
Disclosure of Invention
The invention aims to provide a rapid surveying and mapping method and device, which can achieve the purpose of automatically calibrating a target surveying and mapping point through image data returned by an unmanned aerial vehicle, improve surveying and mapping efficiency and are more suitable for rapid operation scenes.
In a first aspect, an embodiment of the present invention provides a fast mapping method, where the method includes:
determining initial mapping information of a work parcel on an electronic map according to the work parcel, wherein the initial mapping information comprises a target mapping point;
planning a flight path of the unmanned aerial vehicle based on the target mapping point, wherein the flight path is a path traversing the target mapping point;
controlling the unmanned aerial vehicle to hover above the target surveying and mapping point according to the flight path and returning image data;
calibrating the target mapping points in real time based on actual position information corresponding to the image data until the target mapping points in the flight path are calibrated;
and determining accurate mapping information of the operation land block based on the calibrated target mapping points.
With reference to the first aspect, the step of calibrating the target mapping point in real time based on actual position information corresponding to the image data includes:
identifying a target image of the target mapping point in the image data based on the image data;
and determining the accurate position information of the target mapping point based on the target image through real-time manual adjustment or automatic identification.
With reference to the first aspect, the step of identifying a target image of the target mapping point in the image data based on the image data includes: and identifying a target image of the target mapping point in the image data in a manner of manual judgment and/or machine learning.
With reference to the first aspect, the step of determining the accurate position information of the target surveying point based on the target image through real-time manual adjustment or automatic identification includes:
adjusting the position of the unmanned aerial vehicle to be right above the actual position of the target surveying and mapping point in real time based on the target image, and determining accurate position information of the target surveying and mapping point according to the adjusted actual position information of the unmanned aerial vehicle, or;
determining accurate position information of the target surveying point based on the position of the target image in the image data and actual position information of the unmanned aerial vehicle;
and the actual position information of the unmanned aerial vehicle is calibrated in real time through a carrier phase differential technology.
With reference to the first aspect, the step of adjusting the position of the drone to be directly above the actual position of the target mapping point in real time based on the target image includes:
judging whether the identifier of the image data is overlapped with the target image or not;
and if the unmanned aerial vehicle does not overlap, adjusting the horizontal position of the unmanned aerial vehicle in real time according to the identification until the identification is overlapped with the target image.
With reference to the first aspect, the step of determining the accurate position information of the target surveying point based on the position of the target image in the image data and the actual position information of the drone includes: and determining accurate position information of the target mapping point based on the position of the target image in the image data, actual position information of the unmanned aerial vehicle, the relative height of the unmanned aerial vehicle and the target mapping point and the acquisition angle of the image data.
In combination with the first aspect, a one-to-one corresponding calibration pair is formed according to the accurate position information and the initial position information of the target mapping point;
calibrating the electronic map based on the calibration pairs.
With reference to the first aspect, the step of planning the flight path of the drone based on the target mapping points includes:
and planning the flight path of the unmanned aerial vehicle according to the input sequence of the target mapping points.
With reference to the first aspect, the step of controlling the unmanned aerial vehicle to hover above the target surveying point according to the flight path and return the image data includes:
controlling the unmanned aerial vehicle to fly according to the flight path, hover at the target surveying and mapping point, descend to a preset height, and acquire image data;
and returning the image data according to a preset frequency, wherein the flight height of the flight path is higher than the height of the object in the operation land, and the image data acquisition direction of the unmanned aerial vehicle is kept vertically downward.
In a second aspect, an embodiment of the present invention further provides a rapid mapping apparatus, where the apparatus includes:
a determination module that determines initial mapping information of a work parcel on an electronic map according to the work parcel, the initial mapping information including a target mapping point;
a planning module that plans a flight path of the drone based on the target survey point, wherein the flight path is a path that traverses the target survey point;
the control module is used for controlling the unmanned aerial vehicle to hover above the target surveying and mapping point according to the flight path and return image data;
the calibration module calibrates the target mapping points in real time based on actual position information corresponding to the image data until the target mapping points in the flight path are calibrated;
and the mapping module is used for determining the accurate mapping information of the operation land block based on the calibrated target mapping point.
The embodiment of the invention provides a rapid surveying and mapping method and a rapid surveying and mapping device, wherein a target surveying and mapping point is predetermined, a flight path of an unmanned aerial vehicle is planned according to the target surveying and mapping point, the unmanned aerial vehicle hovers to the position of the target surveying and mapping point based on the flight path and returns image data, the target surveying and mapping point is calibrated in real time based on the image data and corresponding actual position information, convenient and efficient surveying and mapping work is realized, meanwhile, a low-precision electronic map used by the unmanned aerial vehicle can be calibrated according to the calibrated surveying and mapping point, the precision of a local map is improved, and the unmanned aerial vehicle can conveniently plan the path.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a fast mapping method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a work area image according to an embodiment of the present invention;
fig. 3 is a functional block diagram of a rapid mapping apparatus according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, before using unmanned aerial vehicle to carry out plant protection operation, can adopt artifical survey and drawing and automatic aerial photography survey and drawing mode to survey and draw the operation plot.
The manual survey and drawing is carried out through the handheld ground survey and drawing end of phase difference of carrier (Real-time kinematic, RTK), and the user need walk the round around the plot and just can accomplish, and to big plot, the survey and drawing time is long, and the manpower consumption is big, and efficiency is very low, and is also higher to user's survey and drawing requirement, can't popularize on a large scale.
The other method is that an aerial photography and mapping mode is adopted, an aerial photography unmanned aerial vehicle is adopted to shoot operation plots, mapping images are formed through splicing, and then position information is obtained based on the mapping images. In addition, the electronic map that the survey and drawing of taking photo by plane adopted, itself and actual geographical position have the error of about 10m, even high accuracy electronic map, its error also need reach about 5m, can't confirm the positional information of survey and drawing point, need set up the location target in advance at the operation plot and calibrate the mapping image, influence the plotting efficiency more.
Based on this, the rapid surveying and mapping method and device provided by the embodiment of the invention can achieve the purpose of performing rapid high-precision calibration on the target surveying and mapping point through the image data returned by the unmanned aerial vehicle, and improve the surveying and mapping efficiency in practical application.
To facilitate understanding of the present embodiment, a detailed description will be first given of a fast mapping method disclosed in the present embodiment, which is applied to a control device of an unmanned aerial vehicle, where the control device may be a ground station or a controller integrated in the unmanned aerial vehicle.
Fig. 1 is a flowchart of a fast mapping method according to an embodiment of the present invention.
Referring to fig. 1, the method includes the steps of:
step S102, determining initial mapping information of a work land on an electronic map according to the work land, wherein the initial mapping information comprises target mapping points;
the target surveying and mapping points at least comprise all corner points (corner points are intersection points of boundaries of the operation plots) of the operation plots to be detected, so that initial surveying and mapping information of the operation plots can be formed according to the target surveying and mapping points. In order to further improve the accuracy of the survey information of the work land, more target survey points can be set, including any points on the boundary of the work land, such as tree points, object points and ridge points, and including the points of obstacles in the work land, and when the obstacles are large, the points can be boundary points surrounding the obstacles, and the like. The electronic map can comprise a plurality of operation land image, a user can select a target surveying and mapping point on an operation land to be tested according to the requirement of the operation land to obtain initial surveying and mapping information, and the information is based on the position information of the electronic map, so that the electronic map has larger general error and larger precision deviation of the initial surveying and mapping information. And the target surveying and mapping points are calibrated quickly and accurately, so that accurate position information of the operation land and the obstacle can be obtained, and the operation accuracy and the operation effect are improved.
The target mapping point also comprises a boundary point of the operation plot, a position point of an obstacle in the plot and a boundary point of an obstacle with a larger area, so that the efficiency of path planning is improved. As shown in fig. 2, the figure enclosed by the straight lines is the operation land, and the corner points (black bold dots) of the operation land are the boundary points of the operation land. In one embodiment, a user touches all corner points of a work parcel on an interface of an electronic map for selection to determine a target mapping point, and in other embodiments, the user touches a plurality of boundary points of the work parcel on the interface of the electronic map to enclose the work parcel to determine initial mapping information.
As an optional embodiment, the rapid mapping method is applied to a ground station, and an electronic map may be stored in the ground station, or the ground station obtains the electronic map from a cloud through a communication module, and displays the electronic map on an interface on the ground station. The ground station generally has a touch screen, and a user can perform a point selection operation on the electronic map to determine a target mapping point, i.e., a boundary point of a work parcel, a boundary point of an obstacle, and the like.
Here, the target mapping point is a point on the work site displayed on the electronic map, which corresponds to a boundary point, a boundary intersection, an obstacle boundary point, an obstacle point, a tree point, a utility pole point, and the like of the actual work site.
Step S104, planning a flight path of the unmanned aerial vehicle based on the target surveying point, wherein the flight path is a path traversing the target surveying point;
after all the target mapping points are determined, initial position information corresponding to the target mapping points is obtained according to the electronic map, a flight path is automatically planned based on the initial position information, and mapping efficiency is improved. Optionally, the flight path is a shortest path traversing the target mapping point, so as to reduce flight time and improve mapping efficiency. After the user confirms the target survey and drawing point on the ground station, the flight path of target survey and drawing point is traversed to ground station automatic planning, then sends the flight path to unmanned aerial vehicle load image device flies to the position department according to the target survey and drawing point that electronic map confirmed.
In one embodiment, in order to improve the mapping efficiency, improve the path planning efficiency and reduce the complexity of path planning, the flight path of the unmanned aerial vehicle is planned according to the input sequence of the target mapping points, the path planning steps are simplified, the operation is more convenient, and the accuracy of calibration and comparison of the subsequent target mapping points is facilitated.
As another alternative, the flight path traversing all the target mapping points can be reasonably planned according to the path and the obstacle condition, as long as all the target mapping points can be reached. For example, when the target mapping point is a boundary point, the target mapping point may be reached clockwise or counterclockwise in sequence along the direction of the boundary; also can set up the target survey and drawing point for the inside barrier point in landmass, unmanned aerial vehicle only need in the landmass inside with surpass the high flight of barrier can, can not cause the flight risk. The starting point and landing place of the flight path are not limited and may be arbitrary. The path from the starting point to the first target mapping point and the path from the last target mapping point to the return point can be planned.
Step S106, controlling the unmanned aerial vehicle to hover above the target surveying and mapping point according to the flight path and returning image data;
unmanned aerial vehicle flies according to the flight path automatically, hovers in the position department that the initial position information of target survey and drawing point corresponds, and image device passbacks image data in real time to the ground station/controlgear with unmanned aerial vehicle communication to be convenient for the calibration of target survey and drawing point, improve the efficiency of calibration.
In order to improve the surveying and mapping safety, in one embodiment, the unmanned aerial vehicle is controlled to hover at the target surveying and mapping point according to the flight path, descend to a preset height, and acquire image data;
wherein, in order to improve image data's resolution ratio, be convenient for discern target survey and drawing point, when unmanned aerial vehicle reaches the position that initial position information of target survey and drawing point corresponds, automatic hovering to automatic decline reaches and presets the height, or user control reaches suitable height, makes user or image equipment can obtain clear or high-resolution image. By reducing the height to the preset height, the consistency of the image data can be kept, the machine identification is facilitated, and the identification accuracy is improved. The height of the plant can be adjusted according to the height of crops in the operation land, and is higher than the heights of the crops by more than 7m, 6m, 5m, 4m and 3 m.
In order to improve the real-time performance, the image data are transmitted back to the ground station/control equipment of the unmanned aerial vehicle according to the preset frequency. The unmanned aerial vehicle is provided with the image device, the unmanned aerial vehicle transmits image information back to the ground station/control equipment in real time, and the image information can be obtained in real time on the ground station/control equipment so as to further realize the calibration step. As another alternative embodiment, the image data may also be autonomously captured according to a preset capturing instruction, or captured in real time according to a capturing instruction sent by the ground station/control device, so as to obtain the image data.
Specifically, flight path's flying height is higher than the height of object in the operation plot to improve the security of unmanned aerial vehicle flight, avoid striking the object in the operation plot when unmanned aerial vehicle survey and drawing, under the condition that unmanned aerial vehicle did not install and keep away barrier sensor, also can survey and draw, reduce unmanned aerial vehicle equipment cost. The objects in the work area include crops, obstacles, utility poles, and the like.
Here, the ground station/control device plans the flight path of the unmanned aerial vehicle (initial position information of the target mapping point, and fixed flying height) based on the target mapping point selected by the user, sends the planned path to the unmanned aerial vehicle to control the unmanned aerial vehicle to sequentially traverse all the mapping points with the shortest path, and the flying height of the flight path is greater than the height of crops/obstacles (telegraph poles and the like) in the operation land, so as to improve the operation safety and avoid accidents.
Further, in order to improve image data processing accuracy and processing speed, the image data acquisition direction of the unmanned aerial vehicle is kept vertically downward. The image device through unmanned aerial vehicle's load observes the region at target survey point place perpendicularly downwards to improve the discernment degree of the corresponding actual position of target survey point, improve the discernment rate of accuracy, avoid because discernment is inaccurate to lead to accurate positional information's mistake or error.
Set up image device on the unmanned aerial vehicle, image device accessible cloud platform adjusts its gesture itself, makes its gesture regardless of unmanned aerial vehicle, remains fixed gesture throughout, guarantees the uniformity of shooing, guarantees simultaneously can accurately shoot different objects, improves the mapping precision. Because unmanned aerial vehicle is in the top shooting of target survey and drawing point, if the shooting has the angle, then can improve positional information's error, unmanned aerial vehicle is big more apart from target survey and drawing point's distance, its positional information's error is also big more, so in order to improve positioning accuracy, keep vertical decurrent gesture with image data acquisition direction, reduced the error of vision angle to positional information, even unmanned aerial vehicle is great apart from target survey and drawing point's distance, also can not influence its positional error.
Step S108, calibrating the target mapping points in real time based on actual position information corresponding to the image data until the target mapping points in the flight path are calibrated;
wherein, according to the target survey and drawing point information in the image data to and unmanned aerial vehicle's actual position information, obtain the accurate position information of target survey and drawing point, unmanned aerial vehicle restarts afterwards, flies to next target survey and drawing point along the flight path of planning automatically, and calibrates according to above-mentioned step, until the whole calibrations of target survey and drawing point in this flight path.
Step S110, determining accurate mapping information of the operation land block based on the calibrated target mapping points;
through the accurate positional information of target survey and drawing point, the accurate mapping information of direct definite operation parcel carries out quick survey and drawing calibration in real-time flight, compares in artifical survey and drawing or the survey and drawing of taking photo by plane, has shortened the plotting time greatly, has promoted mapping efficiency, guarantees the survey and drawing precision.
In one embodiment, in order to improve the mapping efficiency and further improve the operation efficiency, a one-to-one calibration pair is formed according to the precise position information and the initial position information of the target mapping point, and the electronic map is calibrated based on the calibration pair. And associating the accurate position information with the initial position information of the corresponding target mapping point to form a calibration pair, and calibrating the electronic map, so that the paths of other operation plots in the electronic map can be planned according to the calibrated electronic map. Other unmanned aerial vehicles also can carry out the operation according to this accurate electronic map after the calibration, have realized the electronic map sharing, improve user experience.
In an optional embodiment, to prevent the accurate position information and the initial satellite vision information corresponding to the target mapping point from being confused in the calibration process, the method further includes:
numbering the accurate position information and the initial position information respectively in the same rule and form;
and establishing a one-to-one corresponding relation between the accurate position information and the initial position information of the target mapping point based on the serial number.
At this time, a corresponding relation is formed according to the same serial number, so that the electronic map is convenient to calibrate, and the reliability of electronic map calibration is improved.
Through electronic map's calibration, the position calibration of other operation plots in this map of being convenient for, follow-up need not the survey and drawing, can directly use this plot, can realize a plot of survey and drawing, obtains the mapping information's of a plurality of adjacent operation plots purpose simultaneously, has further improved survey and drawing efficiency.
Specifically, confirm target survey and drawing point in the ground station in advance, plan out unmanned aerial vehicle flight path according to this target survey and drawing point, unmanned aerial vehicle hovers to target survey and drawing point top based on flight path, passback image data to ground station, confirm the corresponding actual positional information/accurate positional information of target survey and drawing point in real time based on this image data, realize the calibration and the record of target survey and drawing point, obtain accurate mapping information. Through controlling the automatic map survey and drawing that carries on of unmanned aerial vehicle to realize the high accuracy calibration, can realize efficient survey and drawing work, improve work efficiency, simultaneously, can carry out the map calibration based on the high accuracy mapping information who obtains, ensure the precision of local map, the unmanned aerial vehicle of being convenient for is planned the route on the map parcel of calibration.
The step of calibrating the target mapping points, step S108, is further described below, comprising:
step 1.1), identifying a target image of the target mapping point in the image data based on the image data;
when the target image is determined in real time, the target image of the target mapping point in the image data is identified through manual judgment and/or machine learning. The target image can be identified in a manual judgment mode, or in a machine learning mode, or in a mode of combining manual judgment and machine learning, so that the target image is identified and determined, and the speed and accuracy of target image identification are improved.
As an alternative embodiment, the drone transmits back the image data captured by the imaging device to the ground station/control device in real time, at this time, the ground station displays the flight path of the drone in real time, and displays the conditions of the target mapping point on the electronic map, including the environmental conditions, the surrounding conditions, the characteristics of the target mapping point, and so on, so that the user can compare the target image in the image data to determine whether the target mapping point captured by the drone is the target mapping point selected by the user. The target image is identified and determined by a manual judgment method, so that absolute accuracy can be guaranteed, identification errors are avoided, further, the target image is determined on a ground station/control device of the unmanned aerial vehicle, the target image and the initial surveying and mapping information of the operation land on the electronic map are located on the same interface, operation comparison is facilitated, and user experience is improved.
In another embodiment, the target mapping point is automatically identified by the image data to determine the target image, the target mapping point model is trained in advance and stored for automatic identification, in order to improve the identification accuracy, make the characteristics of the target mapping point consistent, facilitate machine identification, or multiple models are stored in advance for identifying different target mapping points, several commonly used mapping point models that have been learned, such as trees, poles, etc., may be stored. And after the image device obtains the image data, bringing the image data into a target surveying and mapping point model for machine identification, and determining a target image belonging to the target surveying and mapping point. Because unmanned aerial vehicle is in the top of target survey and drawing point initial position, it has the visual angle, even there is the deviation in target survey and drawing point's initial position and actual accurate position, also can gather through image equipment, improves the suitability.
In order to further improve the identification precision of the target surveying and mapping point, after the target image is automatically identified, the target image can be checked in a manual determination mode, and whether the target image is the image of the target surveying and mapping point is judged, so that the absolute accuracy of the identified target image is ensured, the condition of identification errors can be avoided, and the identification speed is improved.
And 1.2) determining the accurate position information of the target mapping point based on the target image in a real-time manual adjustment or automatic identification mode. After the accurate target image is obtained in real time, the precision of subsequent calibration and mapping can be improved.
Specifically, the position of the unmanned aerial vehicle is adjusted in real time to be right above the actual position of the target surveying and mapping point based on the target image, and the accurate position information of the target surveying and mapping point is determined according to the adjusted actual position information of the unmanned aerial vehicle, or; determining accurate position information of the target surveying point based on the position of the target image in the image data and actual position information of the unmanned aerial vehicle; and the actual position information of the unmanned aerial vehicle is calibrated in real time through a carrier phase differential technology.
After the target image is determined, the position of the unmanned aerial vehicle is adjusted to be right above the actual position of the target surveying and mapping point in real time according to the target image, unified identification is facilitated, and surveying and mapping efficiency is improved. The unmanned aerial vehicle position is adjusted through the mode of artifical judgement and the target survey and drawing point is calibrated to obtain the mapping result fast, can realize through the mode of judging whether the sign of image data overlaps with the target image. Specifically, whether the identifier of the image data is overlapped with the target image is judged; and if not, adjusting the horizontal position of the unmanned aerial vehicle in real time according to the identification until the identification is overlapped with the actual surveying and mapping point. Wherein, the mark can be a circle, a cross, a triangle, etc., as long as the mark is easy to identify. In the embodiment, the ground station/control equipment for controlling the position of the unmanned aerial vehicle to be adjusted is the same as the equipment for displaying the image information, other devices are not needed, the position of the unmanned aerial vehicle is directly adjusted according to the image information, the operation is simpler and more convenient, and the user experience is improved.
If there is the deviation, then control unmanned aerial vehicle carries out the level fine setting, control unmanned aerial vehicle at the horizontal direction translation, flight height is unchangeable, and the identification and the target image coincidence of the image data of passback are up to, and the current position of confirming unmanned aerial vehicle this moment is the actual position of target survey and drawing point, and unmanned aerial vehicle actual position information equals the accurate position information of target survey and drawing point promptly. Through real-time adjustment unmanned aerial vehicle position for the unmanned aerial vehicle position is located the actual position top of target survey and drawing point, thereby confirms the actual position of target survey and drawing point, and the position through the accurate quick calibration target survey and drawing point of remote control mode obtains accurate positional information, has improved the calibration real-time, has further improved survey and drawing efficiency. If no deviation exists, the actual position of the position as the target surveying and mapping point is directly determined, and at the moment, the accurate position information of the unmanned aerial vehicle, which is the actual position information of the target surveying and mapping point, is obtained.
Or, in another embodiment, in order to improve the automation degree of rapid mapping, make mapping simpler and more convenient, and improve adaptability, the target mapping point is directly calibrated in a machine learning manner, so that the mapping result is obtained rapidly.
In order to simplify the mapping method and improve mapping efficiency, after a target image is identified in image data, based on the position of the target image in the image data, actual position information of the unmanned aerial vehicle, the relative height of the unmanned aerial vehicle and the target mapping point and the acquisition angle of the image data, accurate position information of the target mapping point is determined.
Specifically, after a target image is identified in image data, image coordinates influencing data are determined according to the position of the target image in the image data, and actual position coordinates corresponding to the image coordinates are calculated according to the relative height of the unmanned aerial vehicle and the target surveying and mapping point, the image data acquisition angle and the actual position coordinates (the actual position information of the unmanned aerial vehicle) of the unmanned aerial vehicle, so that accurate position information of the target surveying and mapping point is obtained. By the method of automatic identification and automatic determination, accurate position information of the target surveying and mapping point is completely and automatically obtained, and surveying and mapping efficiency is improved.
After the target image is determined, the actual position information of the target image, namely the accurate position information of the target surveying and mapping point, is determined by manually adjusting the position of the unmanned aerial vehicle or automatically calculating the position of the target image and combining the actual position information of the unmanned aerial vehicle. It should be noted that the method of the step of determining the target image and the step of determining the precise position information of the target mapping point is freely selected without limitation. In one embodiment, a target image is determined by adopting a manual judgment mode, and then accurate position information of a target surveying and mapping point is determined by adopting a manual adjustment mode; in another embodiment, a machine learning mode is adopted to identify a target image, and then an automatic identification mode is adopted to determine accurate position information of a target surveying and mapping point; in another embodiment, a machine learning method is used for identifying the target image, and then a manual adjustment method is used for determining the accurate position information of the target surveying and mapping point. By freely selecting the steps of determining the target image and determining the accurate position information of the target surveying and mapping point, the operation method is adaptively changed according to the field situation, the surveying and mapping precision is improved, and meanwhile, the applicability and the user experience are improved. Under the good condition of image data, adopt machine learning mode discernment target image, the accurate positional information of target survey and drawing point is confirmed to automatic identification's mode, and when image data is relatively poor, the accurate positional information of target survey and drawing point is confirmed to accessible manual judgement mode, artifical adjustment mode, when image data probably has the problem, can switch to the mode of artifical judgement, artifical adjustment in real time, improves real-time calibration, real-time surveying's precision and suitability.
In order to improve the precision of accurate position information, the actual position information of the unmanned aerial vehicle is calibrated in real time through a carrier phase differential technology. Through the real-time unmanned aerial vehicle actual position information who calibrates of carrier phase differential technique, its precision reaches centimetre level, has greatly improved the survey and drawing precision, the follow-up accurate operation of surveying and drawing landmass of being convenient for of utilizing. In the embodiment, the image data acquisition direction of the imaging device is kept vertical and downward, and the inaccuracy of the measurement result caused by the position deviation between the positioning device and the imaging device is further reduced.
In the embodiment, by means of a rapid surveying and mapping method, surveying and mapping information of the operation land is obtained, so that accurate boundary and obstacle positioning is realized, and guarantee is provided for accurate operation of the unmanned aerial vehicle. The accurate positioning method provided by the embodiment of the invention is different from the common aerial photography surveying and mapping method in that a professional aerial photography machine is not needed for shooting, splicing and surveying the whole operation area, and the operation unmanned aerial vehicle with the image equipment directly carries out fast and convenient surveying and mapping by utilizing a self-positioning system, so that the labor, the time and the equipment cost are saved. Be used for the unmanned aerial vehicle of quick survey and drawing and the unmanned aerial vehicle of operation promptly for same, can directly carry out operation path planning and adopt same unmanned aerial vehicle to carry out the operation through the operation plot after quick survey and drawing, both practiced thrift equipment cost, improved the operating efficiency again.
In the specific embodiment, the ground station is in communication connection with the unmanned aerial vehicle, a satellite electronic map can be used on the ground station to plan the operation plot boundary and the internal large obstacles, and the planned path generated according to the target surveying and mapping points (plot boundary points and obstacle boundary points) is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle is controlled to automatically fly to the surveying and mapping points according to the planned path to perform dotting, the unmanned aerial vehicle can fly at a fixed height, and the unmanned aerial vehicle is prevented from colliding with crops. The target image is determined in a manual and/or machine learning mode, and then the target surveying and mapping point is determined in a manual or automatic identification mode, so that the determination mode can be modified in real time, the surveying and mapping accuracy is improved, and the surveying and mapping applicability is improved. And the plot is determined while planning the surveying and mapping points, so that the surveying and mapping efficiency is improved. Can also be through survey and drawing point calibration electronic map, other operation plots need not the survey and drawing, need not the calibration, can plan the route, have greatly improved survey and drawing efficiency and operating efficiency.
In an alternative embodiment, as shown in fig. 3, an embodiment of the present invention further provides a rapid mapping apparatus, the apparatus including:
the system comprises a determining module, a processing module and a processing module, wherein the determining module is used for determining initial mapping information of a work plot on an electronic map according to the demand of the work plot, and the initial mapping information comprises target mapping points;
a planning module, configured to plan a flight path of the unmanned aerial vehicle based on the target mapping point, where the flight path is a shortest path traversing the target mapping point;
the control module is used for controlling the unmanned aerial vehicle to hover above the target surveying and mapping point according to the flight path and return image data;
the calibration module calibrates the target mapping points in real time based on actual coordinate information corresponding to the image data until the target mapping points in the flight path are calibrated;
and the mapping module is used for determining the accurate mapping information of the operation land block based on the calibrated target mapping point.
The rapid surveying and mapping device provided by the embodiment of the invention has the same technical characteristics as the rapid surveying and mapping method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The computer program product of the fast mapping method and apparatus provided in the embodiments of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and details are not described here.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the fast mapping method provided by the above embodiment are implemented.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the fast mapping method of the above embodiment are performed.
Claims (10)
1. A method of rapid mapping, the method comprising:
determining initial mapping information of a work parcel on an electronic map according to the work parcel, wherein the initial mapping information comprises a target mapping point;
planning a flight path of the unmanned aerial vehicle based on the target mapping point, wherein the flight path is a path traversing the target mapping point;
controlling the unmanned aerial vehicle to hover above the target surveying and mapping point according to the flight path and returning image data;
calibrating the target mapping points in real time based on actual position information corresponding to the image data until the target mapping points in the flight path are calibrated;
and determining accurate mapping information of the operation land block based on the calibrated target mapping points.
2. The method of claim 1, wherein the step of calibrating the target mapping point in real-time based on actual position information corresponding to the image data comprises:
identifying a target image of the target mapping point in the image data based on the image data;
and determining the accurate position information of the target mapping point based on the target image through real-time manual adjustment or automatic identification.
3. The method of claim 2, wherein identifying the target image of the target survey point in the image data based on the image data comprises: and identifying a target image of the target mapping point in the image data in a manner of manual judgment and/or machine learning.
4. The method of claim 2, wherein the step of determining the precise location information of the target surveying point based on the target image by real-time manual adjustment or automatic identification comprises:
adjusting the position of the unmanned aerial vehicle to be right above the actual position of the target surveying and mapping point in real time based on the target image, and determining accurate position information of the target surveying and mapping point according to the adjusted actual position information of the unmanned aerial vehicle, or;
determining accurate position information of the target surveying point based on the position of the target image in the image data and actual position information of the unmanned aerial vehicle;
and the actual position information of the unmanned aerial vehicle is calibrated in real time through a carrier phase differential technology.
5. The method of claim 4, wherein the step of adjusting the position of the drone to be directly above the actual position of the target survey point in real time based on the target image comprises:
judging whether the identifier of the image data is overlapped with the target image or not;
and if the unmanned aerial vehicle does not overlap, adjusting the horizontal position of the unmanned aerial vehicle in real time according to the identification until the identification is overlapped with the target image.
6. The method of claim 4, wherein the step of determining the accurate position information of the target mapping point based on the position of the target image in the image data and the actual position information of the drone comprises:
and determining accurate position information of the target mapping point based on the position of the target image in the image data, actual position information of the unmanned aerial vehicle, the relative height of the unmanned aerial vehicle and the target mapping point and the acquisition angle of the image data.
7. The method of claim 1, wherein a one-to-one calibration pair is formed according to the precise position information and the initial position information of the target mapping point;
calibrating the electronic map based on the calibration pairs.
8. The method of claim 1, wherein the step of planning the flight path of the drone based on the target survey point comprises:
and planning the flight path of the unmanned aerial vehicle according to the input sequence of the target mapping points.
9. The method according to claim 1, wherein the step of controlling the drone to hover over the target surveying point according to the flight path and return image data comprises:
controlling the unmanned aerial vehicle to fly according to the flight path, hover at the target surveying and mapping point, descend to a preset height, and acquire image data;
and returning the image data according to a preset frequency, wherein the flight height of the flight path is higher than the height of the object in the operation land, and the image data acquisition direction of the unmanned aerial vehicle is kept vertically downward.
10. A rapid surveying device, characterized in that the device comprises:
a determination module that determines initial mapping information of a work parcel on an electronic map according to the work parcel, the initial mapping information including a target mapping point;
a planning module that plans a flight path of the drone based on the target survey point, wherein the flight path is a path that traverses the target survey point;
the control module is used for controlling the unmanned aerial vehicle to hover above the target surveying and mapping point according to the flight path and return image data;
the calibration module calibrates the target mapping points in real time based on actual position information corresponding to the image data until the target mapping points in the flight path are calibrated;
and the mapping module is used for determining the accurate mapping information of the operation land block based on the calibrated target mapping point.
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| WO2022104848A1 (en) | 2022-05-27 |
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