CN116774734A - Unmanned aerial vehicle-based digital twin patrol method for intelligent tourist attraction - Google Patents
Unmanned aerial vehicle-based digital twin patrol method for intelligent tourist attraction Download PDFInfo
- Publication number
- CN116774734A CN116774734A CN202311068323.XA CN202311068323A CN116774734A CN 116774734 A CN116774734 A CN 116774734A CN 202311068323 A CN202311068323 A CN 202311068323A CN 116774734 A CN116774734 A CN 116774734A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- preset
- throttle value
- less
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012937 correction Methods 0.000 claims description 66
- 230000001133 acceleration Effects 0.000 claims description 33
- 239000011159 matrix material Substances 0.000 claims description 24
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 21
- 238000007689 inspection Methods 0.000 claims description 13
- 238000010191 image analysis Methods 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 208000035473 Communicable disease Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to the technical field of unmanned aerial vehicles, and discloses a digital twin patrol method for intelligent tourist attractions based on unmanned aerial vehicles.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an intelligent tourist attraction digital twin patrol method based on an unmanned aerial vehicle.
Background
Unmanned aerial vehicles are simply "unmanned aerial vehicles," which are unmanned aerial vehicles that are operated by a radio remote control device and a self-contained programming device, or are operated autonomously, either entirely or intermittently, by an on-board computer. Unmanned aerial vehicles can be classified into military and civilian applications according to the field of application. The unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, scenic spots, express delivery transportation, disaster relief, wild animal observation, infectious disease monitoring, mapping, news reporting, electric power inspection, disaster relief, video shooting and the like, and the application of the unmanned aerial vehicle is greatly expanded.
In the present scenic spot sightseeing, there are often various sightseeing vehicles for make things convenient for the visitor to take turns to in order to light the scenery appreciation with the car, but the sightseeing vehicle receives the visitor's personal wish usually and sightseeing, when a certain sightseeing spot in the scenic spot is in the passenger flow peak period, if can not timely guide the vehicle, take place the problem of sightseeing vehicle crowding phenomenon easily, seriously influence the visitor's experience of playing. In practical application, the flight data of the unmanned aerial vehicle cannot be controlled according to the practical condition of a certain observation point.
Disclosure of Invention
The embodiment of the application provides an intelligent tourist attraction digital twin patrol method based on an unmanned aerial vehicle, which is used for solving the technical problems that in the prior art, flight data of the unmanned aerial vehicle cannot be controlled according to actual conditions of attractions, real-time guidance of the sightseeing vehicle by the unmanned aerial vehicle cannot be guaranteed, and the sightseeing vehicle is blocked.
In order to achieve the above purpose, the application provides an unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method, which comprises the following steps:
acquiring regional parameters of a region to be patrolled and characteristic data of the unmanned aerial vehicle, and calculating the patrolling flight height of the unmanned aerial vehicle based on the regional parameters and the characteristic data;
setting a flight control instruction of the unmanned aerial vehicle according to the patrol flight height of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction;
acquiring an image of the region to be inspected based on the unmanned aerial vehicle, and analyzing the acquired image of the region to be inspected;
and generating a voice guide reminder based on the image analysis result, and guiding the sightseeing vehicle to be entered according to the voice guide reminder.
In one embodiment, when acquiring the area of the area to be inspected and the feature data of the unmanned aerial vehicle, and calculating the inspection flight height of the unmanned aerial vehicle based on the area parameter and the feature data, the method includes:
acquiring the area of the region to be inspected;
acquiring a pan-tilt pitch angle of the unmanned aerial vehicle and an integral pixel value of the unmanned aerial vehicle;
calculating the patrol flight height of the unmanned aerial vehicle according to the area of the area to be patrol, the pan-tilt pitch angle of the unmanned aerial vehicle and the integral pixel value of the unmanned aerial vehicle;
wherein, calculate the inspection flight altitude of unmanned aerial vehicle according to the following formula:
A=V*P*2tan（a）；
wherein A is the inspection flight height of the unmanned aerial vehicle, V is the area of the area to be inspected, P is the integral pixel value of the unmanned aerial vehicle, and a is the pan-tilt angle of the unmanned aerial vehicle.
In one embodiment, when setting a flight control instruction of the unmanned aerial vehicle according to a patrol flight altitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction, the method includes:
setting an initial throttle value of the unmanned aerial vehicle according to the patrol flight altitude A of the unmanned aerial vehicle;
acquiring the starting acceleration E of the unmanned aerial vehicle, and correcting the initial throttle value of the unmanned aerial vehicle according to the starting acceleration E of the unmanned aerial vehicle;
and taking the corrected initial throttle value as a starting throttle value of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be inspected based on the starting throttle value of the unmanned aerial vehicle.
In one embodiment, when setting the initial throttle value of the unmanned aerial vehicle according to the patrol flight altitude a of the unmanned aerial vehicle, the method includes:
presetting a patrol flight height matrix B of the unmanned aerial vehicle, and setting B (B1, B2, B3 and B4), wherein B1 is a first preset patrol flight height, B2 is a second preset patrol flight height, B3 is a third preset patrol flight height, B4 is a fourth preset patrol flight height, and B1 is more than B2 and less than B3 and less than B4;
presetting an initial throttle value matrix C of the unmanned aerial vehicle, and setting C (C1, C2, C3, C4 and C5), wherein C1 is a first preset initial throttle value, C2 is a second preset initial throttle value, C3 is a third preset initial throttle value, C4 is a fourth preset initial throttle value, C5 is a fifth preset initial throttle value, and C1 is more than C2 and less than C3 and less than C4 and less than C5;
setting an initial throttle value of the unmanned aerial vehicle according to the relation between the patrol flight altitude A of the unmanned aerial vehicle and each preset patrol flight altitude:
when A is smaller than B1, selecting the first preset initial throttle value C1 as the initial throttle value of the unmanned aerial vehicle;
when B1 is less than or equal to A and less than B2, selecting the second preset initial throttle value C2 as the initial throttle value of the unmanned aerial vehicle;
when B2 is less than or equal to A and less than B3, selecting the third preset initial throttle value C3 as the initial throttle value of the unmanned aerial vehicle;
when B3 is less than or equal to A and less than B4, selecting the fourth preset initial throttle value C4 as the initial throttle value of the unmanned aerial vehicle;
and when B4 is less than or equal to A, selecting the fifth preset initial throttle value C5 as the initial throttle value of the unmanned aerial vehicle.
In one embodiment, when acquiring the starting acceleration E of the unmanned aerial vehicle and correcting the initial throttle value of the unmanned aerial vehicle according to the starting acceleration E of the unmanned aerial vehicle, the method includes:
presetting a starting acceleration matrix G of the unmanned aerial vehicle, and setting G (G1, G2, G3 and G4), wherein G1 is a first preset starting acceleration, G2 is a second preset starting acceleration, G3 is a third preset starting acceleration, G4 is a fourth preset starting acceleration, and G1 is more than G2 and less than G3 and less than G4;
presetting an initial throttle value correction coefficient matrix h of the unmanned aerial vehicle, and setting h (h 1, h2, h3, h4 and h 5), wherein h1 is a first preset initial throttle value correction coefficient, h2 is a second preset initial throttle value correction coefficient, h3 is a third preset initial throttle value correction coefficient, h4 is a fourth preset initial throttle value correction coefficient, h5 is a fifth preset initial throttle value correction coefficient, and h1 is more than 0.8 and less than h2, h3 is more than h4 and less than h5 and less than 1.2;
when the initial throttle value of the unmanned aerial vehicle is set to be an i-th preset initial throttle value Ci, i=1, 2,3,4,5, and the initial throttle value of the unmanned aerial vehicle is corrected according to the relation between the starting acceleration E of the unmanned aerial vehicle and each preset starting acceleration:
when E is smaller than G1, the first preset initial throttle value correction coefficient h1 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci x h1;
when G1 is less than or equal to E and less than G2, selecting the second preset initial throttle value correction coefficient h2 to correct the ith preset initial throttle value Ci, wherein the corrected initial throttle value of the unmanned aerial vehicle is Ci h2;
when G2 is less than or equal to E and less than G3, selecting the third preset initial throttle value correction coefficient h3 to correct the ith preset initial throttle value Ci, wherein the corrected initial throttle value of the unmanned aerial vehicle is Ci x h3;
when G3 is less than or equal to E and less than G4, the fourth preset initial throttle value correction coefficient h4 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci h4;
when G4 is less than or equal to E, the fifth preset initial throttle value correction coefficient h5 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci.h5.
In one embodiment, after setting a flight control instruction of the unmanned aerial vehicle according to the patrol flight altitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction, the method further comprises:
acquiring an air pressure value F at the point to be inspected;
and correcting the starting throttle value of the unmanned aerial vehicle according to the air pressure value F at the point to be inspected, and taking the corrected starting throttle value as a hovering throttle value of the unmanned aerial vehicle.
In one embodiment, when the starting throttle value of the unmanned aerial vehicle is corrected according to the air pressure value F at the point to be inspected, the method includes:
presetting an air pressure value matrix W at a point to be inspected, and setting W (W1, W2, W3 and W4), wherein W1 is a first preset air pressure value, W2 is a second preset air pressure value, W3 is a third preset air pressure value, W4 is a fourth preset air pressure value, and W1 is more than W2 and less than W3 and less than W4;
presetting a starting accelerator value correction coefficient matrix y of the unmanned aerial vehicle, and setting y (y 1, y2, y3, y4 and y 5), wherein y1 is a first preset starting accelerator value correction coefficient, y2 is a second preset starting accelerator value correction coefficient, y3 is a third preset starting accelerator value correction coefficient, y4 is a fourth preset starting accelerator value correction coefficient, y5 is a fifth preset starting accelerator value correction coefficient, and y1 is more than 0.7 and less than y2 and y3 and y4 and less than y5 and less than 1;
when the starting throttle value of the unmanned aerial vehicle is set to be an i-th preset starting throttle value Ci x hi, i=1, 2,3,4,5, and the starting throttle value of the unmanned aerial vehicle is corrected according to the relation between the air pressure value F at the point to be inspected and each preset air pressure value:
when F is smaller than W1, the first preset starting throttle value correction coefficient y1 is selected to correct the starting throttle value of the unmanned aerial vehicle, and the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi x y1;
when W1 is less than or equal to F < W2, selecting the second preset starting throttle value correction coefficient y2 to correct the starting throttle value of the unmanned aerial vehicle, wherein the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi y2;
when W2 is less than or equal to F < W3, selecting the third preset starting throttle value correction coefficient y3 to correct the starting throttle value of the unmanned aerial vehicle, wherein the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi y3;
when W3 is less than or equal to F < W4, the fourth preset start throttle value correction coefficient y4 is selected to correct the start throttle value of the unmanned aerial vehicle, and the corrected start throttle value of the unmanned aerial vehicle is Ci x hi y4;
when W4 is less than or equal to F, the fifth preset start throttle value correction coefficient y5 is selected to correct the start throttle value of the unmanned aerial vehicle, and the corrected start throttle value of the unmanned aerial vehicle is Ci x hi x y5.
In one embodiment, when the unmanned aerial vehicle performs image acquisition on the area to be inspected and performs image analysis on the acquired image of the area to be inspected, the method includes:
carrying out sightseeing vehicle identification on the acquired image of the area to be surveyed, and determining the number K of sightseeing vehicles in the area to be surveyed;
when the number K of the sightseeing vehicles is greater than or equal to the preset number, judging that the sightseeing vehicles to be entered cannot enter the area to be patrolled;
and when the number K of the sightseeing vehicles is smaller than the preset number, judging that the sightseeing vehicles to be accessed can access the area to be inspected.
In one embodiment, after generating the sightseeing vehicle accessible result, further comprising:
and setting a time interval for carrying out image acquisition on the region to be inspected next time according to the number K of sightseeing vehicles.
In one embodiment, when setting a time interval for next image acquisition of the area to be patrolled according to the number K of sightseeing vehicles, the method includes:
presetting a number matrix R of sightseeing vehicles, and setting R (R1, R2, R3 and R4), wherein R1 is the number of first preset sightseeing vehicles, R2 is the number of second preset sightseeing vehicles, R3 is the number of third preset sightseeing vehicles, R4 is the number of fourth preset sightseeing vehicles, and R1 is more than R2 and less than R3 and less than R4;
presetting a time interval matrix D, and setting D (D1, D2, D3, D4 and D5), wherein D1 is a first preset time interval, D2 is a second preset time interval, D3 is a third preset time interval, D4 is a fourth preset time interval, D5 is a fifth preset time interval, D1 is more than D2 and less than D3 and less than D4 and less than D5;
setting a time interval for carrying out image acquisition on the region to be inspected next time according to the relation between the number K of sightseeing vehicles and the number of preset sightseeing vehicles:
when K is smaller than R1, selecting the fifth preset time interval D5 as a time interval for carrying out image acquisition on the region to be inspected next time;
when R1 is less than or equal to K and less than R2, selecting the fourth preset time interval D4 as a time interval for carrying out image acquisition on the region to be inspected next time;
when R2 is less than or equal to K and less than R3, selecting the third preset time interval D3 as the time interval for carrying out image acquisition on the region to be inspected next time;
when R3 is less than or equal to K and less than R4, selecting the second preset time interval D2 as a time interval for carrying out image acquisition on the region to be inspected next time;
and when R4 is less than or equal to K, selecting the first preset time interval D1 as the time interval for carrying out image acquisition on the region to be inspected next time.
The application provides an unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method, which has the following beneficial effects compared with the prior art:
the application discloses a digital twin patrol method of an intelligent tourist attraction based on an unmanned aerial vehicle, which is used for acquiring regional parameters of the region to be patrol and characteristic data of the unmanned aerial vehicle, calculating the patrol flight altitude of the unmanned aerial vehicle based on the regional parameters and the characteristic data, setting flight control instructions of the unmanned aerial vehicle according to the patrol flight altitude, controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instructions, carrying out image acquisition on the region to be patrol based on the unmanned aerial vehicle, carrying out image analysis on the acquired image of the region to be patrol, generating voice guidance reminding based on the image analysis result, and guiding to enter a sightseeing vehicle according to the voice guidance reminding.
Drawings
FIG. 1 shows a schematic flow chart of an unmanned aerial vehicle-based digital twin patrol method for intelligent tourist attraction in an embodiment of the application;
fig. 2 is a schematic flow chart of a flight control instruction of the unmanned aerial vehicle according to the patrol flight altitude setting of the unmanned aerial vehicle in the embodiment of the application.
Detailed Description
The following describes in further detail the embodiments of the present application with reference to the drawings and examples. The following examples are illustrative of the application and are not intended to limit the scope of the application.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The following is a description of preferred embodiments of the application, taken in conjunction with the accompanying drawings.
As shown in fig. 1, the embodiment of the application discloses an unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method, which comprises the following steps:
s110: acquiring regional parameters of a region to be patrolled and characteristic data of the unmanned aerial vehicle, and calculating the patrolling flight height of the unmanned aerial vehicle based on the regional parameters and the characteristic data;
in some embodiments of the present application, when acquiring a region area of a region to be inspected and feature data of an unmanned aerial vehicle, and calculating an inspection flight height of the unmanned aerial vehicle based on the region parameter and the feature data, the method includes:
acquiring the area of the region to be inspected;
acquiring a pan-tilt pitch angle of the unmanned aerial vehicle and an integral pixel value of the unmanned aerial vehicle;
calculating the patrol flight height of the unmanned aerial vehicle according to the area of the area to be patrol, the pan-tilt pitch angle of the unmanned aerial vehicle and the integral pixel value of the unmanned aerial vehicle;
wherein, calculate the inspection flight altitude of unmanned aerial vehicle according to the following formula:
A=V*P*2tan（a）；
wherein A is the inspection flight height of the unmanned aerial vehicle, V is the area of the area to be inspected, P is the integral pixel value of the unmanned aerial vehicle, and a is the pan-tilt angle of the unmanned aerial vehicle.
In this embodiment, the area to be inspected refers to one of the scenic spots in the scenic spot.
In this embodiment, the pan-tilt pitch angle refers to an included angle between a line of sight of a camera lens of the unmanned aerial vehicle to a shooting object and a horizontal line of sight.
The beneficial effects of the technical scheme are as follows: through calculating unmanned aerial vehicle's inspection flight altitude, both can guarantee unmanned aerial vehicle's shooting definition, can guarantee unmanned aerial vehicle's shooting integrality again, avoid appearing leaking the phenomenon of clapping.
S120: setting a flight control instruction of the unmanned aerial vehicle according to the patrol flight height of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction;
as shown in fig. 2, in some embodiments of the present application, when setting a flight control instruction of the unmanned aerial vehicle according to a patrol flight altitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction, the method includes:
s121: setting an initial throttle value of the unmanned aerial vehicle according to the patrol flight altitude A of the unmanned aerial vehicle;
specifically, a patrol flight height matrix B of the unmanned aerial vehicle is preset, B (B1, B2, B3 and B4) is set, wherein B1 is a first preset patrol flight height, B2 is a second preset patrol flight height, B3 is a third preset patrol flight height, B4 is a fourth preset patrol flight height, and B1 is more than B2 and less than B3 and less than B4;
presetting an initial throttle value matrix C of the unmanned aerial vehicle, and setting C (C1, C2, C3, C4 and C5), wherein C1 is a first preset initial throttle value, C2 is a second preset initial throttle value, C3 is a third preset initial throttle value, C4 is a fourth preset initial throttle value, C5 is a fifth preset initial throttle value, and C1 is more than C2 and less than C3 and less than C4 and less than C5;
setting an initial throttle value of the unmanned aerial vehicle according to the relation between the patrol flight altitude A of the unmanned aerial vehicle and each preset patrol flight altitude:
when A is smaller than B1, selecting the first preset initial throttle value C1 as the initial throttle value of the unmanned aerial vehicle;
when B1 is less than or equal to A and less than B2, selecting the second preset initial throttle value C2 as the initial throttle value of the unmanned aerial vehicle;
when B2 is less than or equal to A and less than B3, selecting the third preset initial throttle value C3 as the initial throttle value of the unmanned aerial vehicle;
when B3 is less than or equal to A and less than B4, selecting the fourth preset initial throttle value C4 as the initial throttle value of the unmanned aerial vehicle;
and when B4 is less than or equal to A, selecting the fifth preset initial throttle value C5 as the initial throttle value of the unmanned aerial vehicle.
The beneficial effects of the technical scheme are as follows: according to the method, the initial throttle value of the unmanned aerial vehicle is set according to the relation between the patrol flight altitude A of the unmanned aerial vehicle and each preset patrol flight altitude, so that the unmanned aerial vehicle can be guaranteed to accurately fly to the patrol flight altitude.
S122: acquiring the starting acceleration E of the unmanned aerial vehicle, and correcting the initial throttle value of the unmanned aerial vehicle according to the starting acceleration E of the unmanned aerial vehicle;
specifically, a starting acceleration matrix G of the unmanned aerial vehicle is preset, G (G1, G2, G3 and G4) is set, wherein G1 is a first preset starting acceleration, G2 is a second preset starting acceleration, G3 is a third preset starting acceleration, G4 is a fourth preset starting acceleration, and G1 is more than G2 and less than G3 and less than G4;
presetting an initial throttle value correction coefficient matrix h of the unmanned aerial vehicle, and setting h (h 1, h2, h3, h4 and h 5), wherein h1 is a first preset initial throttle value correction coefficient, h2 is a second preset initial throttle value correction coefficient, h3 is a third preset initial throttle value correction coefficient, h4 is a fourth preset initial throttle value correction coefficient, h5 is a fifth preset initial throttle value correction coefficient, and h1 is more than 0.8 and less than h2, h3 is more than h4 and less than h5 and less than 1.2;
when the initial throttle value of the unmanned aerial vehicle is set to be an i-th preset initial throttle value Ci, i=1, 2,3,4,5, and the initial throttle value of the unmanned aerial vehicle is corrected according to the relation between the starting acceleration E of the unmanned aerial vehicle and each preset starting acceleration:
when E is smaller than G1, the first preset initial throttle value correction coefficient h1 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci x h1;
when G1 is less than or equal to E and less than G2, selecting the second preset initial throttle value correction coefficient h2 to correct the ith preset initial throttle value Ci, wherein the corrected initial throttle value of the unmanned aerial vehicle is Ci h2;
when G2 is less than or equal to E and less than G3, selecting the third preset initial throttle value correction coefficient h3 to correct the ith preset initial throttle value Ci, wherein the corrected initial throttle value of the unmanned aerial vehicle is Ci x h3;
when G3 is less than or equal to E and less than G4, the fourth preset initial throttle value correction coefficient h4 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci h4;
when G4 is less than or equal to E, the fifth preset initial throttle value correction coefficient h5 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci.h5.
The beneficial effects of the technical scheme are as follows: according to the application, when the initial throttle value of the unmanned aerial vehicle is set to be the i-th preset initial throttle value Ci, i=1, 2,3,4 and 5, the initial throttle value of the unmanned aerial vehicle is corrected according to the relation between the starting acceleration E of the unmanned aerial vehicle and each preset starting acceleration.
S123: and taking the corrected initial throttle value as a starting throttle value of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be inspected based on the starting throttle value of the unmanned aerial vehicle.
In this embodiment, the start throttle value refers to the corrected initial throttle value, i.e., ci×hi, i=1, 2,3,4,5.
In this embodiment, the point to be inspected refers to a point located at the inspection flight height, and the specific point to be inspected may be directly above the area to be inspected, or may be obliquely above the area to be inspected, and the specific position of the point to be inspected may be set according to the actual situation, which is not limited specifically herein.
In some embodiments of the present application, after setting a flight control instruction of the unmanned aerial vehicle according to a patrol flight altitude of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction, the method further includes:
acquiring an air pressure value F at the point to be inspected;
and correcting the starting throttle value of the unmanned aerial vehicle according to the air pressure value F at the point to be inspected, and taking the corrected starting throttle value as a hovering throttle value of the unmanned aerial vehicle.
Specifically, a barometric pressure value matrix W at a point to be inspected is preset, W (W1, W2, W3 and W4) is set, wherein W1 is a first preset barometric pressure value, W2 is a second preset barometric pressure value, W3 is a third preset barometric pressure value, W4 is a fourth preset barometric pressure value, and W1 is more than W2 and less than W3 and less than W4;
presetting a starting accelerator value correction coefficient matrix y of the unmanned aerial vehicle, and setting y (y 1, y2, y3, y4 and y 5), wherein y1 is a first preset starting accelerator value correction coefficient, y2 is a second preset starting accelerator value correction coefficient, y3 is a third preset starting accelerator value correction coefficient, y4 is a fourth preset starting accelerator value correction coefficient, y5 is a fifth preset starting accelerator value correction coefficient, and y1 is more than 0.7 and less than y2 and y3 and y4 and less than y5 and less than 1;
when the starting throttle value of the unmanned aerial vehicle is set to be an i-th preset starting throttle value Ci x hi, i=1, 2,3,4,5, and the starting throttle value of the unmanned aerial vehicle is corrected according to the relation between the air pressure value F at the point to be inspected and each preset air pressure value:
when F is smaller than W1, the first preset starting throttle value correction coefficient y1 is selected to correct the starting throttle value of the unmanned aerial vehicle, and the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi x y1;
when W1 is less than or equal to F < W2, selecting the second preset starting throttle value correction coefficient y2 to correct the starting throttle value of the unmanned aerial vehicle, wherein the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi y2;
when W2 is less than or equal to F < W3, selecting the third preset starting throttle value correction coefficient y3 to correct the starting throttle value of the unmanned aerial vehicle, wherein the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi y3;
when W3 is less than or equal to F < W4, the fourth preset start throttle value correction coefficient y4 is selected to correct the start throttle value of the unmanned aerial vehicle, and the corrected start throttle value of the unmanned aerial vehicle is Ci x hi y4;
when W4 is less than or equal to F, the fifth preset start throttle value correction coefficient y5 is selected to correct the start throttle value of the unmanned aerial vehicle, and the corrected start throttle value of the unmanned aerial vehicle is Ci x hi x y5.
In this embodiment, the hovering throttle value of the unmanned aerial vehicle refers to a throttle supply amount of the unmanned aerial vehicle when the unmanned aerial vehicle reaches a point to be surveyed, where the unmanned aerial vehicle hovers at the point to be surveyed can be ensured.
In this embodiment, the hover throttle value of the unmanned aerial vehicle refers to the corrected start throttle value of the unmanned aerial vehicle, that is, ci×hi×yi, i=1, 2,3,4,5.
The beneficial effects of the technical scheme are as follows: when the starting throttle value of the unmanned aerial vehicle is set to be an i preset starting throttle value Ci, i=1, 2,3,4,5, and the starting throttle value of the unmanned aerial vehicle is corrected according to the relation between the air pressure value F at the point to be inspected and each preset air pressure value.
S130: acquiring an image of the region to be inspected based on the unmanned aerial vehicle, and analyzing the acquired image of the region to be inspected;
in some embodiments of the present application, when performing image acquisition on the area to be patrolled based on the unmanned aerial vehicle and performing image analysis on the acquired image of the area to be patrolled, the method includes:
carrying out sightseeing vehicle identification on the acquired image of the area to be surveyed, and determining the number K of sightseeing vehicles in the area to be surveyed;
when the number K of the sightseeing vehicles is greater than or equal to the preset number, judging that the sightseeing vehicles to be entered cannot enter the area to be patrolled;
and when the number K of the sightseeing vehicles is smaller than the preset number, judging that the sightseeing vehicles to be accessed can access the area to be inspected.
The beneficial effects of the technical scheme are as follows: through the relation between quantity K and the preset quantity according to sightseeing vehicle, can avoid appearing sightseeing vehicle too much, and lead to the phenomenon of jam, improve visitor's experience of playing.
In some embodiments of the application, after generating the sightseeing vehicle accessible result, further comprising:
and setting a time interval for carrying out image acquisition on the region to be inspected next time according to the number K of sightseeing vehicles.
Specifically, a number matrix R of sightseeing vehicles is preset, R (R1, R2, R3 and R4) is set, wherein R1 is the number of first preset sightseeing vehicles, R2 is the number of second preset sightseeing vehicles, R3 is the number of third preset sightseeing vehicles, R4 is the number of fourth preset sightseeing vehicles, and R1 is more than R2 and less than R3 and less than R4;
presetting a time interval matrix D, and setting D (D1, D2, D3, D4 and D5), wherein D1 is a first preset time interval, D2 is a second preset time interval, D3 is a third preset time interval, D4 is a fourth preset time interval, D5 is a fifth preset time interval, D1 is more than D2 and less than D3 and less than D4 and less than D5;
setting a time interval for carrying out image acquisition on the region to be inspected next time according to the relation between the number K of sightseeing vehicles and the number of preset sightseeing vehicles:
when K is smaller than R1, selecting the fifth preset time interval D5 as a time interval for carrying out image acquisition on the region to be inspected next time;
when R1 is less than or equal to K and less than R2, selecting the fourth preset time interval D4 as a time interval for carrying out image acquisition on the region to be inspected next time;
when R2 is less than or equal to K and less than R3, selecting the third preset time interval D3 as the time interval for carrying out image acquisition on the region to be inspected next time;
when R3 is less than or equal to K and less than R4, selecting the second preset time interval D2 as a time interval for carrying out image acquisition on the region to be inspected next time;
and when R4 is less than or equal to K, selecting the first preset time interval D1 as the time interval for carrying out image acquisition on the region to be inspected next time.
In this embodiment, when the time interval for image acquisition of the area to be inspected next is set according to the number K of sightseeing vehicles, if the current acquisition time is 2 points 15 minutes and the time interval for image acquisition of the area to be inspected next is 10 minutes, the time for image acquisition of the area to be inspected next is 2 points 25 minutes, which is shown by way of example and not particularly limited.
The beneficial effects of the technical scheme are as follows: according to the application, the time interval for carrying out image acquisition on the region to be inspected next time is set according to the relation between the number K of sightseeing vehicles and the number of each preset sightseeing vehicle, so that the phenomenon of congestion of sightseeing vehicles in scenic spots can be avoided, and the phenomenon of excessive data caused by frequent image acquisition can be avoided.
S140: and generating a voice guide reminder based on the image analysis result, and guiding the sightseeing vehicle to be entered according to the voice guide reminder.
In this embodiment, when it is determined that the sightseeing vehicle to be entered cannot enter the area to be surveyed, the voice prompt may be "the tourists are your good, the current tourists of the front scenic spot are more, and you are recommended to go to the xxx scenic spot to visit.
In this embodiment, when it is determined that the sightseeing vehicle to be entered can enter the area to be surveyed, the voice prompt may be "the tourists are good, the current tourists in the front scenic spot are fewer, and you can directly drive into the front scenic spot to make sightseeing and playing".
In this embodiment, the specific implementation manner of the voice guidance reminding may be that the unmanned aerial vehicle and the sightseeing vehicle are bound, and the voice guidance reminding is completed through the voice reminder on the sightseeing vehicle.
The beneficial effects of the technical scheme are as follows: effectively improves the sightseeing experience of tourists and avoids the phenomenon of large-area congestion.
In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
Although the application has been described hereinabove with reference to embodiments, various modifications thereof may be made and equivalents may be substituted for elements thereof without departing from the scope of the application. In particular, the features of the disclosed embodiments may be combined with each other in any manner as long as there is no structural conflict, and the entire description of these combinations is not made in the present specification merely for the sake of omitting the descriptions and saving resources. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Those of ordinary skill in the art will appreciate that: the above is only a preferred embodiment of the present application, and the present application is not limited thereto, but it is to be understood that the present application is described in detail with reference to the foregoing embodiments, and modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. An unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method is characterized by comprising the following steps:
acquiring regional parameters of a region to be patrolled and characteristic data of the unmanned aerial vehicle, and calculating the patrolling flight height of the unmanned aerial vehicle based on the regional parameters and the characteristic data;
setting a flight control instruction of the unmanned aerial vehicle according to the patrol flight height of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction;
acquiring an image of the region to be inspected based on the unmanned aerial vehicle, and analyzing the acquired image of the region to be inspected;
and generating a voice guide reminder based on the image analysis result, and guiding the sightseeing vehicle to be entered according to the voice guide reminder.
2. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 1, wherein when acquiring the area of the area to be patrol and the characteristic data of the unmanned aerial vehicle, and calculating the patrol flight height of the unmanned aerial vehicle based on the area parameter and the characteristic data, comprises:
acquiring the area of the region to be inspected;
acquiring a pan-tilt pitch angle of the unmanned aerial vehicle and an integral pixel value of the unmanned aerial vehicle;
calculating the patrol flight height of the unmanned aerial vehicle according to the area of the area to be patrol, the pan-tilt pitch angle of the unmanned aerial vehicle and the integral pixel value of the unmanned aerial vehicle;
wherein, calculate the inspection flight altitude of unmanned aerial vehicle according to the following formula:
A=V*P*2tan（a）；
wherein A is the inspection flight height of the unmanned aerial vehicle, V is the area of the area to be inspected, P is the integral pixel value of the unmanned aerial vehicle, and a is the pan-tilt angle of the unmanned aerial vehicle.
3. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 2, wherein when setting a flight control instruction of the unmanned aerial vehicle according to a patrol flight altitude of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction, comprising:
setting an initial throttle value of the unmanned aerial vehicle according to the patrol flight altitude A of the unmanned aerial vehicle;
acquiring the starting acceleration E of the unmanned aerial vehicle, and correcting the initial throttle value of the unmanned aerial vehicle according to the starting acceleration E of the unmanned aerial vehicle;
and taking the corrected initial throttle value as a starting throttle value of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a point to be inspected based on the starting throttle value of the unmanned aerial vehicle.
4. A smart tourist attraction digital twin inspection method based on unmanned aerial vehicle according to claim 3, characterized in that when setting the initial throttle value of the unmanned aerial vehicle according to the inspection flying height a of the unmanned aerial vehicle, it comprises:
presetting a patrol flight height matrix B of the unmanned aerial vehicle, and setting B (B1, B2, B3 and B4), wherein B1 is a first preset patrol flight height, B2 is a second preset patrol flight height, B3 is a third preset patrol flight height, B4 is a fourth preset patrol flight height, and B1 is more than B2 and less than B3 and less than B4;
presetting an initial throttle value matrix C of the unmanned aerial vehicle, and setting C (C1, C2, C3, C4 and C5), wherein C1 is a first preset initial throttle value, C2 is a second preset initial throttle value, C3 is a third preset initial throttle value, C4 is a fourth preset initial throttle value, C5 is a fifth preset initial throttle value, and C1 is more than C2 and less than C3 and less than C4 and less than C5;
setting an initial throttle value of the unmanned aerial vehicle according to the relation between the patrol flight altitude A of the unmanned aerial vehicle and each preset patrol flight altitude:
when A is smaller than B1, selecting the first preset initial throttle value C1 as the initial throttle value of the unmanned aerial vehicle;
when B1 is less than or equal to A and less than B2, selecting the second preset initial throttle value C2 as the initial throttle value of the unmanned aerial vehicle;
when B2 is less than or equal to A and less than B3, selecting the third preset initial throttle value C3 as the initial throttle value of the unmanned aerial vehicle;
when B3 is less than or equal to A and less than B4, selecting the fourth preset initial throttle value C4 as the initial throttle value of the unmanned aerial vehicle;
and when B4 is less than or equal to A, selecting the fifth preset initial throttle value C5 as the initial throttle value of the unmanned aerial vehicle.
5. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 4, wherein when acquiring the starting acceleration E of the unmanned aerial vehicle and correcting the initial throttle value of the unmanned aerial vehicle according to the starting acceleration E of the unmanned aerial vehicle, the method comprises:
presetting a starting acceleration matrix G of the unmanned aerial vehicle, and setting G (G1, G2, G3 and G4), wherein G1 is a first preset starting acceleration, G2 is a second preset starting acceleration, G3 is a third preset starting acceleration, G4 is a fourth preset starting acceleration, and G1 is more than G2 and less than G3 and less than G4;
presetting an initial throttle value correction coefficient matrix h of the unmanned aerial vehicle, and setting h (h 1, h2, h3, h4 and h 5), wherein h1 is a first preset initial throttle value correction coefficient, h2 is a second preset initial throttle value correction coefficient, h3 is a third preset initial throttle value correction coefficient, h4 is a fourth preset initial throttle value correction coefficient, h5 is a fifth preset initial throttle value correction coefficient, and h1 is more than 0.8 and less than h2, h3 is more than h4 and less than h5 and less than 1.2;
when the initial throttle value of the unmanned aerial vehicle is set to be an i-th preset initial throttle value Ci, i=1, 2,3,4,5, and the initial throttle value of the unmanned aerial vehicle is corrected according to the relation between the starting acceleration E of the unmanned aerial vehicle and each preset starting acceleration:
when E is smaller than G1, the first preset initial throttle value correction coefficient h1 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci x h1;
when G1 is less than or equal to E and less than G2, selecting the second preset initial throttle value correction coefficient h2 to correct the ith preset initial throttle value Ci, wherein the corrected initial throttle value of the unmanned aerial vehicle is Ci h2;
when G2 is less than or equal to E and less than G3, selecting the third preset initial throttle value correction coefficient h3 to correct the ith preset initial throttle value Ci, wherein the corrected initial throttle value of the unmanned aerial vehicle is Ci x h3;
when G3 is less than or equal to E and less than G4, the fourth preset initial throttle value correction coefficient h4 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci h4;
when G4 is less than or equal to E, the fifth preset initial throttle value correction coefficient h5 is selected to correct the ith preset initial throttle value Ci, and the corrected initial throttle value of the unmanned aerial vehicle is Ci.h5.
6. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 5, wherein after setting a flight control instruction of the unmanned aerial vehicle according to a patrol flight altitude of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to fly to a point to be patrol based on the flight control instruction, further comprising:
acquiring an air pressure value F at the point to be inspected;
and correcting the starting throttle value of the unmanned aerial vehicle according to the air pressure value F at the point to be inspected, and taking the corrected starting throttle value as a hovering throttle value of the unmanned aerial vehicle.
7. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 6, wherein when correcting the start throttle value of the unmanned aerial vehicle according to the air pressure value F at the point to be patrol, comprising:
presetting an air pressure value matrix W at a point to be inspected, and setting W (W1, W2, W3 and W4), wherein W1 is a first preset air pressure value, W2 is a second preset air pressure value, W3 is a third preset air pressure value, W4 is a fourth preset air pressure value, and W1 is more than W2 and less than W3 and less than W4;
presetting a starting accelerator value correction coefficient matrix y of the unmanned aerial vehicle, and setting y (y 1, y2, y3, y4 and y 5), wherein y1 is a first preset starting accelerator value correction coefficient, y2 is a second preset starting accelerator value correction coefficient, y3 is a third preset starting accelerator value correction coefficient, y4 is a fourth preset starting accelerator value correction coefficient, y5 is a fifth preset starting accelerator value correction coefficient, and y1 is more than 0.7 and less than y2 and y3 and y4 and less than y5 and less than 1;
when the starting throttle value of the unmanned aerial vehicle is set to be an i-th preset starting throttle value Ci x hi, i=1, 2,3,4,5, and the starting throttle value of the unmanned aerial vehicle is corrected according to the relation between the air pressure value F at the point to be inspected and each preset air pressure value:
when F is smaller than W1, the first preset starting throttle value correction coefficient y1 is selected to correct the starting throttle value of the unmanned aerial vehicle, and the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi x y1;
when W1 is less than or equal to F < W2, selecting the second preset starting throttle value correction coefficient y2 to correct the starting throttle value of the unmanned aerial vehicle, wherein the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi y2;
when W2 is less than or equal to F < W3, selecting the third preset starting throttle value correction coefficient y3 to correct the starting throttle value of the unmanned aerial vehicle, wherein the corrected starting throttle value of the unmanned aerial vehicle is Ci x hi y3;
when W3 is less than or equal to F < W4, the fourth preset start throttle value correction coefficient y4 is selected to correct the start throttle value of the unmanned aerial vehicle, and the corrected start throttle value of the unmanned aerial vehicle is Ci x hi y4;
when W4 is less than or equal to F, the fifth preset start throttle value correction coefficient y5 is selected to correct the start throttle value of the unmanned aerial vehicle, and the corrected start throttle value of the unmanned aerial vehicle is Ci x hi x y5.
8. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 4, wherein when the unmanned aerial vehicle-based image acquisition is performed on the region to be patrol and the acquired image of the region to be patrol is subjected to image analysis, the method comprises the following steps:
carrying out sightseeing vehicle identification on the acquired image of the area to be surveyed, and determining the number K of sightseeing vehicles in the area to be surveyed;
when the number K of the sightseeing vehicles is larger than or equal to the preset number, judging that the sightseeing vehicles to be entered cannot enter the area to be inspected;
and when the number K of the sightseeing vehicles is smaller than the preset number, judging that the sightseeing vehicles to be entered can enter the area to be inspected.
9. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 8, further comprising, after generating sightseeing vehicle accessible results:
and setting a time interval for carrying out image acquisition on the region to be inspected next time according to the number K of sightseeing vehicles.
10. The unmanned aerial vehicle-based intelligent tourist attraction digital twin patrol method according to claim 9, wherein when setting a time interval for next image acquisition of the region to be patrol according to the number K of sightseeing vehicles, comprising:
presetting a number matrix R of sightseeing vehicles, and setting R (R1, R2, R3 and R4), wherein R1 is the number of first preset sightseeing vehicles, R2 is the number of second preset sightseeing vehicles, R3 is the number of third preset sightseeing vehicles, R4 is the number of fourth preset sightseeing vehicles, and R1 is more than R2 and less than R3 and less than R4;
presetting a time interval matrix D, and setting D (D1, D2, D3, D4 and D5), wherein D1 is a first preset time interval, D2 is a second preset time interval, D3 is a third preset time interval, D4 is a fourth preset time interval, D5 is a fifth preset time interval, D1 is more than D2 and less than D3 and less than D4 and less than D5;
setting a time interval for carrying out image acquisition on the region to be inspected next time according to the relation between the number K of sightseeing vehicles and the number of preset sightseeing vehicles:
when K is smaller than R1, selecting the fifth preset time interval D5 as a time interval for carrying out image acquisition on the region to be inspected next time;
when R1 is less than or equal to K and less than R2, selecting the fourth preset time interval D4 as a time interval for carrying out image acquisition on the region to be inspected next time;
when R2 is less than or equal to K and less than R3, selecting the third preset time interval D3 as the time interval for carrying out image acquisition on the region to be inspected next time;
when R3 is less than or equal to K and less than R4, selecting the second preset time interval D2 as a time interval for carrying out image acquisition on the region to be inspected next time;
and when R4 is less than or equal to K, selecting the first preset time interval D1 as the time interval for carrying out image acquisition on the region to be inspected next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311068323.XA CN116774734B (en) | 2023-08-24 | 2023-08-24 | Unmanned aerial vehicle-based digital twin patrol method for intelligent tourist attraction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311068323.XA CN116774734B (en) | 2023-08-24 | 2023-08-24 | Unmanned aerial vehicle-based digital twin patrol method for intelligent tourist attraction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116774734A true CN116774734A (en) | 2023-09-19 |
| CN116774734B CN116774734B (en) | 2023-10-24 |
Family
ID=87993471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311068323.XA Active CN116774734B (en) | 2023-08-24 | 2023-08-24 | Unmanned aerial vehicle-based digital twin patrol method for intelligent tourist attraction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116774734B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774378A (en) * | 2017-03-01 | 2017-05-31 | 杭州谷航科技有限公司 | A kind of UAV Flight Control and localization method |
| CN108107905A (en) * | 2017-12-20 | 2018-06-01 | 电子科技大学 | A kind of scenic spot is taken photo by plane flight system and its control method |
| CN108427269A (en) * | 2018-03-05 | 2018-08-21 | 珠海全志科技股份有限公司 | Unmanned plane height control method, throttle computing module and unmanned plane |
| CN108877228A (en) * | 2018-08-31 | 2018-11-23 | 深圳市研本品牌设计有限公司 | A kind of unmanned plane guided for scenic spot |
| CN111506099A (en) * | 2020-05-28 | 2020-08-07 | 西北工业大学 | Intelligent control system and method for height of unmanned aerial vehicle |
| CN115503956A (en) * | 2022-11-04 | 2022-12-23 | 武汉红色智旅文化科技有限公司 | Sightseeing line navigation unmanned aerial vehicle system |
-
2023
- 2023-08-24 CN CN202311068323.XA patent/CN116774734B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774378A (en) * | 2017-03-01 | 2017-05-31 | 杭州谷航科技有限公司 | A kind of UAV Flight Control and localization method |
| CN108107905A (en) * | 2017-12-20 | 2018-06-01 | 电子科技大学 | A kind of scenic spot is taken photo by plane flight system and its control method |
| CN108427269A (en) * | 2018-03-05 | 2018-08-21 | 珠海全志科技股份有限公司 | Unmanned plane height control method, throttle computing module and unmanned plane |
| CN108877228A (en) * | 2018-08-31 | 2018-11-23 | 深圳市研本品牌设计有限公司 | A kind of unmanned plane guided for scenic spot |
| CN111506099A (en) * | 2020-05-28 | 2020-08-07 | 西北工业大学 | Intelligent control system and method for height of unmanned aerial vehicle |
| CN115503956A (en) * | 2022-11-04 | 2022-12-23 | 武汉红色智旅文化科技有限公司 | Sightseeing line navigation unmanned aerial vehicle system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116774734B (en) | 2023-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9851716B2 (en) | Unmanned aerial vehicle and methods for controlling same | |
| CN114035614B (en) | Unmanned aerial vehicle autonomous inspection method and system based on prior information and storage medium | |
| US20180342168A1 (en) | Autonomous drone service system | |
| US20220237928A1 (en) | Method for detecting road diseases by intelligent cruise via unmanned aerial vehicle, unmanned aerial vehicle and detecting system therefor | |
| CN109992006A (en) | A kind of accurate recovery method and system of power patrol unmanned machine | |
| CN111552306A (en) | Unmanned aerial vehicle path generation method and device supporting pole tower key component inspection | |
| CN110727288A (en) | Point cloud-based accurate three-dimensional route planning method for power inspection | |
| TW202102960A (en) | Drone inspection system and drone inspection method | |
| CN109739257A (en) | Merge the patrol unmanned machine closing method and system of satellite navigation and visual perception | |
| IT201800003790A1 (en) | Management of a fleet of aerial spraying vehicles | |
| CN111402436A (en) | Urban road parking unmanned aerial vehicle inspection system and method | |
| CN110673650B (en) | Unmanned aerial vehicle control method | |
| CN116774734B (en) | Unmanned aerial vehicle-based digital twin patrol method for intelligent tourist attraction | |
| CN205788760U (en) | A kind of vehicle detecting system based on unmanned plane | |
| CN110850894A (en) | Automatic return method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium | |
| CN116185065A (en) | Unmanned aerial vehicle inspection method and device and nonvolatile storage medium | |
| CN107547792A (en) | A kind of vehicle-mounted mobile image acquisition system and its method of work towards three-dimensional modeling | |
| CN113031634B (en) | Photovoltaic inspection method based on unmanned aerial vehicle | |
| CN115775417A (en) | Base station inspection system, method and readable storage medium | |
| CN115373416B (en) | Intelligent inspection method for railway electric power through line | |
| CN205945971U (en) | Unmanned vehicles time -lapse shooting device | |
| CN115143941A (en) | Intelligent surveying and mapping 3D industrial camera based on cloud platform | |
| CN107765710A (en) | The automatic homing method and system of vehicle-mounted aircraft | |
| CN112947512A (en) | AR-based unmanned aerial vehicle power grid line patrol method and system | |
| US20200242923A1 (en) | Method for generating a visual range collection and visual range collecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |