CN114485660A - Cooperative control and sensing positioning method for air-ground robot - Google Patents
Cooperative control and sensing positioning method for air-ground robot Download PDFInfo
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Abstract
The invention discloses an air-ground robot cooperative control and perception positioning method, which comprises the following steps that firstly, an unmanned aerial vehicle collects data, the unmanned aerial vehicle carries a camera to rise to a village graphic area needing to be collected, the graphic area is an orthoimage and a three-dimensional model, the unmanned aerial vehicle carries a camera to walk over the village, and then data transmission is carried out: after the camera collects the existing graph; the method is characterized in that an orthophoto image and a three-dimensional model of a village are rapidly acquired based on an unmanned aerial vehicle and are integrated into a village and town right investigation online service platform, the approximate position of a boundary point of a shielding area is acquired by combining manual interpretation and computer vision through the platform, the potential sight distance finding position of the unmanned aerial vehicle or a robot dog and the boundary point is established based on the shielding coverage condition of the boundary point, and an air-ground robot is output to expect to reach the approximate position, so that all the approximate positions of the village can be acquired, and high-precision positioning of the boundary point of the shielding area is realized.
Description
Technical Field
The invention relates to the technical field of land cadastral survey, in particular to a cooperative control and perception positioning method for an open-air robot.
Background
China is broad in breadth, and countryside and town weight surveys are large in quantity, and the traditional surveys adopt means such as remote sensing satellites, unmanned aerial vehicle monitoring, satellite positioning and staff on-site investigation in the aspect of information acquisition. However, in the current process of investigating the land cadastral, the difficult problem that the equipment is difficult to independently position when shooting from the air aiming at the area with the sheltered signal is investigated, and the high-precision positioning of the boundary point of the sheltered area cannot be realized.
Therefore, a cooperative control and perception positioning method for the air-ground robot is provided to solve the problem.
Disclosure of Invention
The invention aims to provide a cooperative control and perception positioning method for an air-ground robot, which solves the problems that in the current soil cadastre investigation process, aiming at an area with a signal shielding, the equipment is difficult to be autonomously positioned when being shot from the air, and the high-precision positioning of a shielding area boundary point cannot be realized.
In order to achieve the purpose, the invention provides the following technical scheme: a cooperative control and sensing positioning method for an air-ground robot comprises the following steps:
step 1: unmanned aerial vehicle data acquisition: the unmanned aerial vehicle carries a camera to rise to a village graphic area to be collected, the graphic area is an orthoimage and a three-dimensional model, and the unmanned aerial vehicle carries a camera to walk over the village;
step 2: data transmission: after the images exist, the collected village images are input into display equipment of an operator through a wireless transmission module after being collected by a camera, the display equipment receives and collects the village images to form an orthoimage and a three-dimensional model, and the operator transmits and integrates data into an online service platform of village and town right survey;
and step 3: obtaining the approximate position of the area: after the village and town weight survey online service platform receives the data, the village and town weight survey online service platform stores the approximate position of the village area;
and 4, step 4: calculating a position occlusion area: after comparison, a manual interpretation and computer vision are arranged in the village and town right survey online service platform, the platform is combined with the computer vision algorithm by utilizing a manual interpretation algorithm, positioning calculation is carried out on data received by the display equipment, after the positioning calculation is carried out, the existing approximate position is removed, the approximate position of a shielding area is obtained, the village and town right survey online service platform obtains the approximate position of the shielding area and transmits the shielding coverage condition based on the boundary point to the display equipment, and the approximate position of the boundary point of the shielding area in the village is directly displayed through the display equipment;
and 5: submerging in a shielding area: establishing a potential sight distance finding position between an unmanned aerial vehicle or a robot dog and an interface point through the approximate position of the interface point of the village shielding area obtained by the display equipment, and outputting the expected arrival of the air-ground robot to the approximate position;
step 6: all approximate positions were obtained: the device with the camera is used for generating contact with an unmanned aerial vehicle and a robot dog in the air where a village shielding boundary point area exists, the unmanned aerial vehicle or the robot dog village is moved through the camera, so that a graph area shielding the boundary point area is obtained, and further, all approximate positions are obtained.
Preferably, in step 1, the unmanned aerial vehicle carries the camera to rise, and is directly operated by a person operating the unmanned aerial vehicle.
Preferably, in step 1, when the unmanned aerial vehicle carries the camera to walk, it is stable to guarantee that the unmanned aerial vehicle walks, and the deviation obtained from top to bottom in the unmanned aerial vehicle walking process can not be more than half a meter.
Preferably, in step 2, before data transmission, it is ensured that the wireless transmission module of the drone can be normally connected with the display device.
Preferably, in step 2, when abnormal data transmission occurs in the data transmission process, the data transmission process needs to be overhauled in time, and shooting at any position of the village cannot be ignored.
Preferably, in the step 3, when the village and town right investigation online service platform stores the approximate location of the village region, an operator is required to detect the approximate location of the village region stored by the village and town right investigation online service platform, so as to avoid omission.
Preferably, in step 3, the detected absence of omission directly enters the next process.
Preferably, in step 4, when the manual interpretation algorithm and the computer vision algorithm are used for calculating data, it is necessary to ensure that signals at the position of the display device are smooth, the signal strength is not enough, the signals can be enhanced through the signal enhancer, and the calculation is prohibited from being interrupted strictly in the calculation process.
Preferably, in step 5, the approximate position output by the air-ground robot can have a slight deviation without affecting the connection of the air unmanned aerial vehicle.
Preferably, in step 6, after all the approximate positions are obtained, a complete three-dimensional village model is directly established through three-dimensional modeling, so that an operator can conveniently detect the approximate positions, and timely leakage repair is performed when a problem is found.
Compared with the prior art, the invention has the beneficial effects that:
the method is characterized in that an orthophoto image and a three-dimensional model of a village are rapidly acquired based on an unmanned aerial vehicle and are integrated into a village and town right investigation online service platform, the approximate position of a boundary point of a shielding area is acquired by combining manual interpretation and computer vision through the platform, the potential sight distance finding position of the unmanned aerial vehicle or a robot dog and the boundary point is established based on the shielding coverage condition of the boundary point, and an air-ground robot is output to expect to reach the approximate position, so that all the approximate positions of the village can be acquired, and high-precision positioning of the boundary point of the shielding area is realized.
Detailed Description
The present invention will now be described in more detail by way of examples, which are given by way of illustration only and are not intended to limit the scope of the present invention in any way.
The invention provides a technical scheme that: a cooperative control and perception positioning method for an air-ground robot comprises the following steps:
step 1: unmanned aerial vehicle data acquisition: the unmanned aerial vehicle carries a camera to rise to a village graphic area to be collected, the graphic area is an orthoimage and a three-dimensional model, and the unmanned aerial vehicle carries a camera to walk over the village;
step 2: data transmission: after the image is collected by the camera, the collected village image is input into the display equipment of the operator through the wireless transmission module, the display equipment receives the collected village image, forms an orthoimage and a three-dimensional model, and the operator transmits and integrates data into the online service platform of the village and town right survey;
and 3, step 3: obtaining the approximate position of the area: after the village and town weight survey online service platform receives the data, the village and town weight survey online service platform stores the approximate position of the village area;
and 4, step 4: calculating a position occlusion area: after comparison, a manual interpretation and computer vision are arranged in the village and town right survey online service platform, the platform is combined with the computer vision algorithm by utilizing a manual interpretation algorithm, positioning calculation is carried out on data received by the display equipment, after the positioning calculation is carried out, the existing approximate position is removed, the approximate position of a shielding area is obtained, the village and town right survey online service platform obtains the approximate position of the shielding area and transmits the shielding coverage condition based on the boundary point to the display equipment, and the approximate position of the boundary point of the shielding area in the village is directly displayed through the display equipment;
and 5: submerging in a shielding area: establishing a potential sight distance finding position between an unmanned aerial vehicle or a robot dog and an interface point through the approximate position of the interface point of the village shielding area obtained by the display equipment, and outputting the expected arrival of the air-ground robot to the approximate position;
step 6: all approximate positions were obtained: the device with the camera is used for generating contact with an unmanned aerial vehicle and a robot dog in the air where a village shielding boundary point area exists, the unmanned aerial vehicle or the robot dog village is moved through the camera, so that a graph area shielding the boundary point area is obtained, and further, all approximate positions are obtained.
The first embodiment is as follows:
at first unmanned aerial vehicle data collection, carry the camera by unmanned aerial vehicle and rise to the village figure region that needs to gather, the figure region is orthophoto and three-dimensional model, and unmanned aerial vehicle carries the camera and walks in the village sky, then data transport: after the images exist, the collected village images are input into an operator display device through a wireless transmission module, the display device receives and collects the village images to form an orthographic image and a three-dimensional model, the operator transmits and integrates data into a village and town weight investigation online service platform, then an area approximate position is obtained, after the village and town weight investigation online service platform receives the data, the village and town weight investigation online service platform stores the village area approximate position, then a position shielding area is calculated, after comparison, the village and town weight investigation online service platform is internally provided with manual interpretation and computer vision, the platform utilizes the manual interpretation algorithm and the computer vision algorithm to combine, the data received by the display device is positioned and calculated, after the positioning calculation, the existing approximate position is removed, the shielding area approximate position is obtained, the village and town weight survey online service platform obtains the approximate position of a shielding area and the shielding coverage condition based on the boundary point and sends the obtained approximate position to display equipment, the approximate position of the boundary point of the shielding area in a village is directly displayed through the display equipment, then the village and town weight survey online service platform dives into the shielding area, the approximate position of the boundary point of the village shielding area obtained through the display equipment is used for establishing the potential sight distance finding position of an unmanned aerial vehicle or a robot dog and the boundary point, outputting the expected arrival of an air-ground robot to the approximate position, finally obtaining all the approximate positions, connecting the unmanned aerial vehicle or the robot dog in the air with the region where the village shields the boundary point through equipment with a camera, walking the position of the unmanned aerial vehicle or the robot dog in the air, obtaining the graphic area shielding the boundary point region, and further obtaining all the approximate positions.
Example two:
in the first embodiment, the following steps are added:
in the step 1, the unmanned aerial vehicle carries a camera to rise, and is directly operated by personnel operating the unmanned aerial vehicle; when the unmanned aerial vehicle carries the camera to walk, the walking stability of the unmanned aerial vehicle is ensured, and the deviation obtained from top to bottom in the walking process of the unmanned aerial vehicle cannot be larger than half a meter.
In step 2, before data transmission, the wireless transmission module of the unmanned aerial vehicle is ensured to be normally connected with the display device; when abnormal data transmission occurs in the data transmission process, the village needs to be overhauled in time, and any position of the village cannot be ignored for shooting.
Firstly, an unmanned aerial vehicle collects data, the unmanned aerial vehicle carries a camera to rise to a village graphic area to be collected, the graphic area is an orthoimage and a three-dimensional model, the unmanned aerial vehicle carries a camera to walk over the village, the unmanned aerial vehicle carries the camera to rise, and personnel operating the unmanned aerial vehicle directly operate the unmanned aerial vehicle; unmanned aerial vehicle carries camera and will guarantee that unmanned aerial vehicle walking is steady when walking to unmanned aerial vehicle walking in-process obtains the deviation from top to bottom and can not be greater than half a meter, then data transport: after the images exist, the collected village images are input into display equipment of an operator through a wireless transmission module after being collected by a camera, the display equipment receives and collects the village images to form an orthoimage and a three-dimensional model, the operator transmits and integrates data into an online service platform of village and town right investigation, and before data transmission, the wireless transmission module of the unmanned aerial vehicle is ensured to be normally connected with the display equipment; when abnormal data transmission occurs in the data transmission process, timely maintenance is carried out, shooting at any position of a village cannot be ignored, then a regional approximate position is obtained, after the village and town right investigation online service platform receives the data, the village and town right investigation online service platform stores the approximate position of the village region, then a position shielding region is calculated, after comparison, manual interpretation and computer vision are arranged in the village and town right investigation online service platform, the platform utilizes manual interpretation algorithm and computer vision algorithm to combine, positioning calculation is carried out on the data received by the display equipment, after the positioning calculation, the existing approximate position is eliminated, the approximate position of the shielding region is obtained, the approximate village and town right investigation online service platform obtains the position of the shielding region and sends the approximate village and town shielding coverage condition to the display equipment, the approximate village and town boundary point shielding region boundary point approximate position in the village is directly displayed through the display equipment, and then submerging in a shielding area, establishing a potential sight distance finding position of an unmanned aerial vehicle or a robot dog and an address point through the approximate position of the address point of the village shielding area obtained by a display device, outputting the expected arrival of the air ground robot to the approximate position, finally obtaining all the approximate positions, connecting the unmanned aerial vehicle or the robot dog with the village shielding address point area in the air through a device with a camera, walking the position of the unmanned aerial vehicle or the robot dog through the camera, thus obtaining a graphic area of the shielding address point area, and further obtaining all the approximate positions.
Example three:
in the second embodiment, the following steps are added:
in step 3, when the village and town weight survey online service platform stores the approximate position of the village region, an operator is required to detect the approximate position of the village region stored by the village and town weight survey online service platform, so that missing situations are avoided, and the next process is directly carried out without the missing situations through detection.
In step 4, when the manual interpretation algorithm and the computer vision algorithm are used for calculating data, it is necessary to ensure that signals at the position of the display device are smooth, the signal strength is insufficient, the signals can be enhanced through the signal enhancer, and the calculation is forbidden to be interrupted strictly in the calculation process.
Firstly, an unmanned aerial vehicle collects data, the unmanned aerial vehicle carries a camera to rise to a village graphic area to be collected, the graphic area is an orthoimage and a three-dimensional model, the unmanned aerial vehicle carries a camera to walk over the village, the unmanned aerial vehicle carries the camera to rise, and personnel operating the unmanned aerial vehicle directly operate the unmanned aerial vehicle; unmanned aerial vehicle carries camera and will guarantee that unmanned aerial vehicle walking is steady when walking to unmanned aerial vehicle walking in-process obtains the deviation from top to bottom and can not be greater than half a meter, then data transport: after the images exist, the collected village images are input into display equipment of an operator through a wireless transmission module after being collected by a camera, the display equipment receives and collects the village images to form an orthoimage and a three-dimensional model, the operator transmits and integrates data into an online service platform of village and town right investigation, and before data transmission, the wireless transmission module of the unmanned aerial vehicle is ensured to be normally connected with the display equipment; when abnormal data transmission occurs in the data transmission process, timely maintenance is carried out, shooting at any position of a village cannot be ignored, then an approximate position of a region is obtained, after the village and town weight survey online service platform receives data, the village and town weight survey online service platform stores the approximate position of the village region, then a position shielding region is calculated, after comparison, manual interpretation and computer vision are arranged in the village and town weight survey online service platform, the platform utilizes a manual interpretation algorithm and a computer vision algorithm to be combined, positioning calculation is carried out on the data received by a display device, after the positioning calculation, the existing approximate position is removed, the approximate position of the shielding region is obtained, the approximate position of the shielding region and the approximate village and town coverage condition based on a boundary point shielding coverage condition are obtained by the village and town weight survey online service platform, the approximate position of the boundary point of the shielding region in the village is directly displayed by the display device, when the manual interpretation algorithm and the computer vision algorithm are used for calculating data, it is necessary to ensure that signals of positions of display equipment are smooth, the signal strength is insufficient, signal enhancement can be performed through a signal intensifier, in the calculation process, interruption calculation is strictly prohibited, then the data are submerged into a shielding area, the approximate position of a village shielding area boundary point obtained through the display equipment is used for establishing a potential visual distance finding position of an unmanned aerial vehicle or a robot dog and the boundary point, an empty space robot is output to expect to reach the approximate position, all the approximate positions are finally obtained, the unmanned aerial vehicle or the robot dog with a camera in the air and the village shielding boundary point area is in contact with the robot dog, the unmanned aerial vehicle or the robot dog with the camera walks to the village position, the image area of the shielding boundary point area is obtained, and all the approximate positions are obtained.
Example four:
in the third embodiment, the following steps are added:
in step 5, the approximate position output by the air-ground robot can have some deviation without affecting the connection of the air unmanned aerial vehicle.
In step 6, after all the approximate positions are obtained, a complete village three-dimensional model is directly established through three-dimensional modeling, so that an operator can conveniently detect the approximate positions, and timely leakage repair is performed when problems are found.
Firstly, an unmanned aerial vehicle collects data, the unmanned aerial vehicle carries a camera to rise to a village graphic area to be collected, the graphic area is an orthoimage and a three-dimensional model, the unmanned aerial vehicle carries a camera to walk over the village, the unmanned aerial vehicle carries the camera to rise, and personnel operating the unmanned aerial vehicle directly operate the unmanned aerial vehicle; unmanned aerial vehicle carries camera and will guarantee that unmanned aerial vehicle walking is steady when walking to unmanned aerial vehicle walking in-process obtains the deviation from top to bottom and can not be greater than half a meter, then data transport: after the camera collects the existing graphs, inputting the collected village graphs into the display equipment of an operator through the wireless transmission module, forming an orthoimage and a three-dimensional model after the display equipment receives and collects the village graphs, and transmitting and integrating data into the village and town weight survey online service platform by the operator, wherein before data transmission, the wireless transmission module of the unmanned aerial vehicle is required to be connected with the display equipment normally; when abnormal data transmission occurs in the data transmission process, timely maintenance is carried out, shooting at any position of a village cannot be ignored, then an approximate position of a region is obtained, after the village and town weight survey online service platform receives data, the village and town weight survey online service platform stores the approximate position of the village region, then a position shielding region is calculated, after comparison, manual interpretation and computer vision are arranged in the village and town weight survey online service platform, the platform utilizes a manual interpretation algorithm and a computer vision algorithm to be combined, positioning calculation is carried out on the data received by a display device, after the positioning calculation, the existing approximate position is removed, the approximate position of the shielding region is obtained, the approximate position of the shielding region and the approximate village and town coverage condition based on a boundary point shielding coverage condition are obtained by the village and town weight survey online service platform, the approximate position of the boundary point of the shielding region in the village is directly displayed by the display device, when the data is calculated by the manual interpretation algorithm and the computer vision algorithm, smooth signals of the position where the display equipment is located are ensured, the signal strength is insufficient, the signal can be enhanced by the signal enhancer, in the calculation process, the calculation is forbidden to be interrupted, then the shielding area is submerged, the approximate position of the boundary point of the village shielding area obtained by the display equipment is used for establishing the potential sight distance finding position of the unmanned aerial vehicle or the robot dog and the boundary point, the output air-ground robot is expected to reach the approximate position, the approximate position output by the air-ground robot can have a slight deviation under the condition of not influencing the connection of the air unmanned aerial vehicle, and finally all the approximate positions are obtained, the equipment with the camera is used for making a connection between the unmanned aerial vehicle and the robot dog in the air where the village shielding boundary point area exists, the unmanned aerial vehicle or the robot dog is walked by the camera, so that the graphic area of the boundary point is obtained, and then all the approximate positions are obtained, and after all the approximate positions are obtained, a complete village three-dimensional model is directly established through three-dimensional modeling, so that an operator can conveniently detect the approximate positions, and timely leakage repair is performed when problems are found.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A cooperative control and perception positioning method for an air-ground robot is characterized by comprising the following steps: the method comprises the following steps:
step 1: unmanned aerial vehicle data acquisition: the unmanned aerial vehicle carries a camera to rise to a village graphic area to be collected, the graphic area is an orthoimage and a three-dimensional model, and the unmanned aerial vehicle carries a camera to walk over the village;
step 2: data transmission: after the images exist, the collected village images are input into display equipment of an operator through a wireless transmission module after being collected by a camera, the display equipment receives and collects the village images to form an orthoimage and a three-dimensional model, and the operator transmits and integrates data into an online service platform of village and town right survey;
and step 3: obtaining the approximate position of the area: after the village and town weight survey online service platform receives the data, the village and town weight survey online service platform stores the approximate position of the village area;
and 4, step 4: calculating a position occlusion area: after comparison, a manual interpretation and computer vision are arranged in the village and town right survey online service platform, the platform is combined with the computer vision algorithm by utilizing a manual interpretation algorithm, positioning calculation is carried out on data received by the display equipment, after the positioning calculation is carried out, the existing approximate position is removed, the approximate position of a shielding area is obtained, the village and town right survey online service platform obtains the approximate position of the shielding area and transmits the shielding coverage condition based on the boundary point to the display equipment, and the approximate position of the boundary point of the shielding area in the village is directly displayed through the display equipment;
and 5: submerging in a shielding area: establishing a potential sight distance finding position between an unmanned aerial vehicle or a robot dog and an interface point through the approximate position of the interface point of the village shielding area obtained by the display equipment, and outputting the expected arrival of the air-ground robot to the approximate position;
step 6: all approximate positions were obtained: the device with the camera is used for generating contact with an unmanned aerial vehicle and a robot dog in the air where a village shielding boundary point area exists, the unmanned aerial vehicle or the robot dog village is moved through the camera, so that a graph area shielding the boundary point area is obtained, and further, all approximate positions are obtained.
2. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in step 1, the unmanned aerial vehicle carries the camera to rise, and is directly operated by personnel operating the unmanned aerial vehicle.
3. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in step 1, when the unmanned aerial vehicle carries the camera to walk, the walking stability of the unmanned aerial vehicle is ensured, and the deviation obtained from top to bottom in the walking process of the unmanned aerial vehicle cannot be larger than half a meter.
4. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in step 2, before data transmission, it is ensured that the wireless transmission module of the unmanned aerial vehicle can be normally connected with the display device.
5. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in the step 2, when abnormal data transmission occurs in the data transmission process, the village needs to be overhauled in time, and shooting at any position cannot be ignored.
6. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in step 3, when the village and town weight survey online service platform stores the approximate location of the village region, an operator is required to detect the approximate location of the village region stored by the village and town weight survey online service platform, so as to avoid omission.
7. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in step 3, the detected absence directly enters the next process.
8. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in the step 4, when the manual interpretation algorithm and the computer vision algorithm are used for calculating data, it is necessary to ensure that signals at the position of the display device are smooth, the signal strength is not enough, the signals can be enhanced through the signal enhancer, and the calculation is prohibited from being interrupted strictly in the calculation process.
9. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in step 5, the approximate position output by the air-ground robot can have some deviation without affecting the connection of the air unmanned aerial vehicle.
10. The air-ground robot cooperative control and perception positioning method according to claim 1, wherein the method comprises the following steps: in the step 6, after all the approximate positions are obtained, a complete village three-dimensional model is directly established through three-dimensional modeling, so that an operator can conveniently detect the approximate positions, and timely leakage repair is performed when problems are found.
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