WO2021016867A1 - Dispositif terminal et procédé de traitement de données associé, et véhicule aérien sans pilote et procédé de commande associé - Google Patents

Dispositif terminal et procédé de traitement de données associé, et véhicule aérien sans pilote et procédé de commande associé Download PDF

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Publication number
WO2021016867A1
WO2021016867A1 PCT/CN2019/098392 CN2019098392W WO2021016867A1 WO 2021016867 A1 WO2021016867 A1 WO 2021016867A1 CN 2019098392 W CN2019098392 W CN 2019098392W WO 2021016867 A1 WO2021016867 A1 WO 2021016867A1
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WIPO (PCT)
Prior art keywords
target area
drone
height
map
altitude
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PCT/CN2019/098392
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English (en)
Chinese (zh)
Inventor
刘昂
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980031886.7A priority Critical patent/CN112154389A/zh
Priority to PCT/CN2019/098392 priority patent/WO2021016867A1/fr
Publication of WO2021016867A1 publication Critical patent/WO2021016867A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling

Definitions

  • This application relates to the technical field of aircraft control, and in particular to a terminal device and its data processing method, an unmanned aerial vehicle and its control method.
  • this application provides a terminal device and its data processing method, an unmanned aerial vehicle and its control method, aiming to solve the technical problems of the existing unmanned aerial vehicle control methods such as high technical threshold and difficulty in ensuring flight safety. .
  • this application provides a data processing method for terminal equipment, including:
  • the lower safe flight altitude map is transmitted to the drone, wherein the boundary of the safe flight lower altitude map is used to restrict the drone from flying in the target area, and the safe lower altitude data in the safe flight lower altitude map is used To limit the minimum flying height of the drone when flying in the target area.
  • this application provides a method for controlling drones, including
  • the minimum flying height of the drone when flying in the target area is restricted according to the lower safety limit height data in the lower safety limit height map.
  • this application provides a terminal device, including a memory and a processor
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program, and when executing the computer program, implement the following steps:
  • the lower safe flight altitude map is transmitted to the drone, wherein the boundary of the safe flight lower altitude map is used to restrict the drone from flying in the target area, and the safe lower altitude data in the safe flight lower altitude map is used To limit the minimum flying height of the drone when flying in the target area.
  • this application also provides a drone, including a memory and a processor
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program, and when executing the computer program, implement the following steps:
  • the minimum flying height of the drone when flying in the target area is restricted according to the lower safety limit height data in the lower safety limit height map.
  • this application also provides a computer-readable storage medium that stores a computer program that, when executed by a processor, causes the processor to implement the aforementioned terminal device data Approach.
  • this application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes the aforementioned UAV Control Method.
  • the embodiment of the application provides a terminal device and its data processing method, an unmanned aerial vehicle and its control method.
  • the height map of the target area is obtained by obtaining the height map of the target area, and then the height map of the target area is corrected according to the safety height correction data to obtain the target area
  • the safe flight lower limit altitude map, and then the safe flight lower limit altitude map is sent to the drone, so that the drone can fly within the boundaries of the safe flight lower limit altitude map and is restricted according to the safe lower limit altitude data in the safe flight lower limit altitude map
  • the minimum flying height during flight thereby ensuring that the drone can fly safely in the target area and lowering the technical threshold for drone control.
  • FIG. 1 is a schematic flowchart of a data processing method of a terminal device according to an embodiment of the present application
  • Figure 2 is a schematic diagram of a height map of the target area
  • Figure 3 is a schematic diagram of the lower limit altitude map of safe flight in the target area
  • FIG. 4 is a schematic flowchart of a data processing method for a terminal device according to another embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a data processing method for a terminal device according to still another embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a data processing method for a terminal device according to another embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a control method for a drone provided by an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a control method for a drone provided by an embodiment of the present application.
  • FIG. 9 is a schematic block diagram of a terminal device provided by an embodiment of the present application.
  • Fig. 10 is a schematic block diagram of a drone provided by an embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a data processing method of a terminal device according to an embodiment of the present application.
  • the data processing method can be applied to the terminal device to process the acquired data for use. Data used to restrict drone flights.
  • the terminal device can be, for example, a mobile phone, a tablet, a laptop, a desktop computer, or a server, etc.;
  • the drone can be a rotary-wing drone, such as a quadrotor drone, a hexarotor drone, and an eight rotor drone. It can be a fixed-wing drone, etc.
  • the data processing method of the terminal device of this embodiment may include but is not limited to step S110 to step S140.
  • Step S110 Obtain a height map of the target area.
  • the target area is scenic spots, mountains, waters, villages, etc., and the drone can fly over the target area.
  • the height map includes the coordinates of each position in the target area and the height value of each position.
  • the target area is a rectangular area defined by x1 to x9 and y1 to y6, and the height value of each position in the target area ranges from 5 to 30.
  • the height map includes the height value of each point on the roof of a building, the height value of the water surface, and the height value of each point on the hillside.
  • the flying height is not lower than the height value of the position.
  • Step S120 Obtain safety height correction data.
  • the safety height correction data can be obtained to correct the height map of the target area.
  • Step S130 Correct the altitude map of the target area according to the safe altitude correction data to obtain the lower limit altitude map of safe flight of the target area.
  • the safety height correction data may also include multiple correction data. For example, height maps corresponding to different positions in the target area may be superimposed with different correction data.
  • the lower safe flight altitude map adds a buffer zone determined based on the safe altitude correction data.
  • the flight altitude is not lower than the lower safe flight altitude map.
  • the height value of the position can prevent the drone from touching some objects, such as the roof and water surface, when flying in the target area, thereby ensuring flight safety.
  • Step S140 Transmit the safe flight lower limit altitude map to the drone.
  • the boundary of the lower safe flight altitude map is used to restrict the drone from flying in the target area
  • the safe lower altitude data in the safe flight lower altitude map is used to restrict the minimum value of the drone when flying in the target area. Flying height.
  • the boundary of the safe flight lower limit altitude map and the safe lower limit altitude data are obtained.
  • the drone is restricted from flying in the target area according to the boundary of the lower safe flight altitude map, and the drone is restricted from flying in the target area according to the safe lower altitude data in the lower safe flight altitude map.
  • the terminal device after the terminal device obtains the lower limit altitude map of safe flight, it can transmit the lower limit altitude map of safe flight to the drone through the following possible implementation methods: 1.
  • the terminal device communicates directly with the drone.
  • the terminal device can directly send the lower limit height map of safe flight to the drone, or the terminal device can directly communicate with the control terminal of the drone.
  • the terminal device can directly send the lower limit height map of safe flight to the control terminal, and the drone can pass The direct communication link with the control terminal obtains the lower flight limit altitude map sent by the control terminal;
  • the terminal device can store the safe flight lower limit altitude map in a mobile storage medium, such as a memory card, and then set the safe flight lower limit through the mobile storage medium The height map is transferred to the drone.
  • the mobile storage medium is installed on the drone, and the drone reads the safe flight lower limit altitude map from the mobile storage medium; 3.
  • the terminal device sends the safe flight lower limit altitude map to the server, and the server can send the safe flight altitude map to the server.
  • the lower flight limit altitude map is sent to the drone, or the server can send the safe flight lower limit altitude map to the control terminal of the drone, and then the drone obtains the safe flight lower limit altitude map from the control terminal.
  • the control terminal may include one or more of a mobile phone, a tablet computer, a remote control, and a wearable device (bracelet, glasses, etc.).
  • the data processing method of the terminal device provided in the above embodiment obtains the altitude map of the target area, and then corrects the altitude map of the target area according to the safe altitude correction data to obtain the safe flight lower limit altitude map of the target area, and then the safe flight lower limit altitude
  • the map is sent to the drone so that the drone can fly within the boundary of the lower safe flight altitude map and the minimum flight altitude during flight is limited according to the safe lower altitude data in the safe flight lower altitude map; thereby ensuring that no one The safe flight of the aircraft in the target area lowers the technical threshold for drone control. Users can easily complete the tour of the target area through the drone.
  • FIG. 4 is a schematic flowchart of a data processing method for a terminal device according to another embodiment of the present application.
  • the data processing method of the terminal device in this embodiment may include but is not limited to step S210 to step S240.
  • Step S210 Determine the height map of the target area according to the image taken when the surveying and mapping drone is flying in the target area.
  • the height map of the target area is determined based on the images taken by the surveying and mapping drone flying in the target area.
  • the surveying and mapping drone may include a photographing device, and the flying of the surveying and mapping drone flying above the target area, and the surveying and mapping drone may photograph the target area through the photographing device to obtain the photographed image.
  • the captured image can be used to determine the height map of the target area.
  • the height map of the target area is determined by surveying and mapping the images taken by the drone while flying in the target area.
  • the accuracy of the height map is higher; on the other hand, it can be more convenient and faster to obtain the height map, even after a period of time.
  • the buildings, terrain, etc. have changed, and the height map can be updated quickly.
  • the surveying and mapping drone when the surveying and mapping drone takes an image in the target area, it also collects the position corresponding to the image, that is, the position of the surveying and mapping drone corresponding to the image, and the posture of the shooting device when the image is collected.
  • step S210 determines the height map of the target area according to the images taken when the surveying drone is flying in the target area, including: acquiring the image transmitted by the surveying drone and the corresponding surveying and mapping drone. The position of the drone and the posture of the camera of the drone that outputs the image; and the height map of the target area is determined based on the image, the position and the posture.
  • the surveying and mapping drone After the surveying and mapping drone completes the surveying and mapping flight mission of the target area, it will collect all the images, as well as the position of the surveying and mapping drone corresponding to the image and the shooting device of the drone that outputs the image The attitude is transmitted to the terminal device.
  • the surveying and mapping drone may directly take the image taken in the target area, the position of the surveying and mapping drone corresponding to the image, and the posture of the drone's shooting device outputting the image in a wireless or wired manner Send to the terminal device.
  • the surveying and mapping drone may send the image taken in the target area, the position of the surveying and mapping drone corresponding to the image and the posture of the drone's shooting device outputting the image to the ground station or the server, Then the ground station or server sends the image taken in the target area, the position of the surveying drone corresponding to the image and the posture of the drone's camera outputting the image to the terminal device.
  • the surveying and mapping drone writes the image and the position of the surveying drone corresponding to the image and the posture of the drone's shooting device outputting the image into a mobile storage medium.
  • the mobile storage medium installed on the surveying and mapping drone is taken out and installed on the terminal device, so that the terminal device can read the image and the surveying and mapping drone corresponding to the image from the mobile storage medium.
  • the position and attitude of the drone's camera that output the image.
  • the photographing device of the surveying and mapping drone includes a sensor for acquiring image data, for example, a depth camera, a binocular camera, and a monocular camera; the photographing device also includes a position angle sensor for acquiring the position and attitude of the corresponding camera , So you can get the attitude of the drone's camera.
  • the surveying and mapping drone also includes a positioning device for determining location information.
  • the positioning device may include, for example, at least one of sensors such as a gyroscope, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global positioning system (GPS), a barometer, and an airspeed meter.
  • sensors such as a gyroscope, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global positioning system (GPS), a barometer, and an airspeed meter.
  • the terminal device determining the height map of the target area according to the image, the position and the posture includes: determining the three-dimensionality of the target area according to the image, the position and the posture Point cloud, obtaining a height map of the target area according to the point cloud.
  • the terminal may determine the three-dimensional point cloud of the target area according to the image, the position, and the posture, where the three-dimensional point cloud includes the two-dimensional coordinates (such as latitude and longitude) of points on the object in the target area, Height and color information.
  • the terminal device may determine the height map of the target area according to the three-dimensional point cloud.
  • the acquiring the height map of the target area includes: acquiring the height map of the target area transmitted by the surveying and mapping drone.
  • the surveying and mapping drone acquires the images taken while flying in the target area, it can determine the height map of the target area according to the method described above, and then transmit the height map of the target area to the terminal device, where the transmission
  • the method is not limited.
  • Step S220 Obtain safety height correction data.
  • the terminal device obtains the locally stored safety height correction data. For example, if the safety height correction data is 5, the height value of each position in the target area can be added to 5 to obtain the new height value of each position.
  • the safety altitude correction data is determined based on the surveying and mapping errors of the surveying and mapping aircraft.
  • acquiring the safety height correction data by the terminal device includes: detecting a user's safety height correction operation, and determining the safety height correction data according to the safety height correction operation.
  • the terminal device displays the height map on the interactive interface, as shown in FIG. 2.
  • the user can view the height map displayed on the interactive interface, and perform safe height correction operations through human-computer interaction, for example, increase the height of some or all positions in the target area by a certain value; therefore, the terminal device can determine according to the safe height correction operation The safety height correction data.
  • the terminal device determines the safety height correction data of some or all positions in the target area according to the safety height correction operation, and the safety height correction data of different positions may be the same or different.
  • Step S230 Correct the altitude map of the target area according to the safe altitude correction data to obtain a lower limit altitude map of safe flight of the target area.
  • the lower limit of safe flight altitude map adds a buffer zone determined based on the safe altitude correction data.
  • the terminal device correcting the altitude map of the target area according to the safe altitude correction data to obtain the safe flight lower limit altitude map of the target area includes: superimposing the safe altitude correction data on all On each of the altitude data in the altitude map; and determining the altitude data in the altitude map after being superimposed as the lower limit altitude map for safe flight of the target area.
  • the user can determine the safety height correction data according to the actual situation of the target area, such as the distribution of buildings and the importance of buildings.
  • the height map includes height data of various positions in the target area. After the terminal device determines the safe height correction data of some or all positions in the target area, the safe height correction data of each position is superimposed on the corresponding height data in the height map.
  • the terminal device does not detect the user's safe height correction operation on a certain position in the target area, it is determined that the safe height correction operation of the position is zero, and there is no need to superimpose the safe height correction data on the height data of the position. .
  • Step S240 Transmit the safe flight lower limit altitude map to the drone.
  • the boundary of the lower safe flight altitude map is used to restrict the drone from flying in the target area
  • the safe lower altitude data in the safe flight lower altitude map is used to restrict the minimum value of the drone when flying in the target area. Flying height.
  • the data processing method of the terminal device provided in the above embodiment further determines the height map of the target area according to the images taken by the surveying and mapping drone flying in the target area.
  • the accuracy of the height map is higher, and on the other hand, it can be more accurate. It is convenient to get the height map more quickly; it also determines the safety height correction data according to the user's safety height correction operation, so that the user can determine the safety height correction data according to the actual situation of the target area, such as building distribution and building importance.
  • FIG. 5 is a schematic flowchart of a data processing method of a terminal device according to another embodiment of the present application
  • the data processing method of the terminal device of this embodiment may include, but is not limited to, step S310 to step S340.
  • Step S310 Obtain a height map of the measurement area, and obtain the height map of the target area from the height map of the measurement area according to the user's target area selection operation.
  • the surveying and mapping drone surveys and maps a larger range of measurement areas.
  • the surveying and mapping drone determines the height map of the measurement area based on the data obtained from the surveying and mapping, and then sends it to the terminal device; or the terminal device receives from the surveying and mapping drone.
  • the data obtained from the surveying and mapping determines the height map of the measurement area.
  • the surveying and mapping drone when the surveying and mapping drone is flying in the target area, in order to obtain surveying and mapping data of the complete target area, such as the image and the location of the surveying and mapping drone corresponding to the image and the drone's shooting device that outputs the image In the posture, the captured image will exceed the boundary of the target area, and then the determined height map, that is, the boundary of the height map of the measurement area is larger than the boundary of the desired target area.
  • step S310 obtains the height map of the measurement area, and obtains the height map of the target area from the height map of the measurement area according to the user's target area selection operation, including: obtaining the height map of the measurement area, wherein The measurement area includes a target area, and the height map of the measurement area is determined according to the image taken by the surveying and mapping drone flying in the target area; the user's target area selection operation is detected, and the target area selection operation is selected from the The target area is determined in the measurement area; and the height map of the target area is obtained from the height map of the measurement area.
  • the height of the measurement area is determined according to the image taken while the surveying and mapping drone is flying in the measurement area, the position of the surveying and mapping drone corresponding to the image, and the posture of the drone's camera outputting the image Figure; Afterwards, the terminal device can be operated to determine the target area from the measurement area, so that the terminal device can obtain the height map of the target area from the height map of the measurement area.
  • the data processing method further includes: acquiring a digital map of the measurement area, wherein the digital map is obtained by splicing the images; and displaying the digital map on an interactive interface.
  • the terminal device obtains all the images taken by the surveying and mapping drone while flying in the target area from the surveying and mapping drone, and then stitches these images to obtain a digital map of the measurement area; and displays the digital map on the interactive interface
  • the digital map includes the image features of the measurement area, such as walls, water surface, cliffs, etc., so that the user can determine the target area from the measurement area.
  • the obtaining a digital map of the measurement area includes: obtaining a digital map of the measurement area transmitted by the surveying drone.
  • the surveying and mapping drone may perform stitching processing on the images to obtain a digital map of the measurement area, and transmit the digital map to the terminal device, and the terminal device may send The user displays the digital map.
  • the terminal device detecting the user's target area selection operation includes: detecting the user's selection operation of the target area of the interactive interface displaying the digital map.
  • the user views the digital map displayed on the interactive interface, and can select the target area by selecting points, dashes, etc., such as selecting points or lines on the boundary of the desired target area, such as walls, etc., to determine the boundary of the target area according to the The boundary obtains the height map of the target area from the height map of the measurement area.
  • Step S320 Obtain safety height correction data.
  • the safe altitude correction data is determined according to the surveying and mapping error of the altitude map and/or the altitude deviation during flight control of the drone.
  • Step S330 Correct the altitude map of the target area according to the safe altitude correction data to obtain a lower limit altitude map of safe flight of the target area.
  • the lower limit of safe flight altitude map adds a buffer zone determined based on the safe altitude correction data.
  • Step S340 Transmit the safe flight lower limit altitude map to the drone.
  • the boundary of the lower safe flight altitude map is used to restrict the drone from flying in the target area
  • the safe lower altitude data in the safe flight lower altitude map is used to restrict the minimum value of the drone when flying in the target area. Flying height.
  • the data processing method of the terminal device provided in the above embodiment further obtains the height map of the target area from the height map of the measurement area by obtaining the height map of the measurement area and according to the user's target area selection operation, so that the obtained target area is The height map is more complete, and the height map of the required target area can be determined more accurately through human-computer interaction, ensuring that the drone will not abolish the required area when flying in the target area.
  • the data processing method of the terminal device further includes step S350 and step 360.
  • Step S350 Obtain position information and description information of the target object in the target area.
  • the terminal device obtains all the images taken by the surveying and mapping drone while flying in the target area from the surveying and mapping drone, and then stitches these images to obtain a digital map of the target area; and interacts with the digital map.
  • the digital map includes image features of the target area, such as walls, water surfaces, cliffs, etc.
  • the terminal device detects the user's selection operation of the target object on the interactive interface displaying the digital map, and determines the location information of the target object in the target area.
  • the user views the digital map displayed on the interactive interface, and can specify target objects in the target area, such as a certain building, mountain, tree, etc., by clicking on the digital map.
  • target objects in the target area such as a certain building, mountain, tree, etc.
  • the terminal device pops up an editing interface for the description information of the target object on the interactive interface, so that the user can edit the description information of the target object.
  • the description information includes one or more of audio information, image information, and text information.
  • Step S360 Transmit the position information and description information of the target object in the target area to the UAV system to instruct the control terminal to satisfy the preset position relationship between the position of the UAV and the position information of the target object When outputting the description information of the target object.
  • the drone and the control terminal communicatively connected with the drone constitute a drone system.
  • the terminal device in addition to transmitting the lower limit altitude map of safe flight to the drone, the terminal device also transmits the position information and description information of the target object in the target area to the drone and/or the control of the communication connection with the drone terminal.
  • the terminal device transmits the safe flight lower limit altitude map to the drone, and transmits the position information and description information of the target object in the target area to the control terminal that is in communication with the drone.
  • the position of the drone is sent to the control terminal in real time; the control terminal sends the real-time position of the drone to the target area in the target area.
  • the position information is compared. If the real-time position of the drone at a certain moment and the position information of a certain target object meet the preset position relationship, if the distance is less than the preset distance threshold, the control terminal will output the description information corresponding to the target object.
  • control terminal may play audio description information of the target object through a voice playback device, display text description information of the target object through a display device, and/or play image description information through a display device. For example, when the drone flies to a certain scenic spot in the scenic spot, the control terminal outputs the explanation of the scenic spot.
  • the control terminal used by the user can output the description information of the target object when the UAV flies to the position of the target object, which is convenient for the user Have a deeper understanding of the target object and enhance the user's tour experience.
  • FIG. 6 is a schematic flowchart of a data processing method of a terminal device according to another embodiment of the present application.
  • the data processing method of the terminal device in this embodiment may include but is not limited to step S410 to step S440.
  • Step S410 Obtain a height map of the target area, where the height map of the target area includes height data corresponding to each of the multiple sub-areas.
  • the target region includes a plurality of rasterized subregions
  • the height map of the target region includes height data corresponding to each subregion of the plurality of subregions.
  • the data volume of the height map of the target area is small.
  • acquiring the height map of the target area by the terminal device includes: acquiring height data of multiple spatial points in the target area, where the height data of the multiple spatial points is based on the surveying and mapping of the drone in the target area The image taken during flight is determined; rasterize the target area to obtain the multiple sub-areas, and determine the corresponding to each sub-area according to the height data of the spatial point falling in each sub-area Height data.
  • the terminal device acquires the image transmitted by the surveying and mapping drone, the position of the surveying and mapping drone corresponding to the image, and the posture of the camera of the drone that outputs the image; and according to the image and the location The position and the posture determine the three-dimensional point cloud of the target area. Then the height map of the target area is determined according to the three-dimensional point cloud.
  • the target area is divided into multiple sub-regions according to the planar positions and heights of the multiple spatial points in the target area. area.
  • the plane position between several spatial points in the point cloud data is not greater than the block division threshold, and the height difference between any two spatial points in the several spatial points is not greater than the preset height difference threshold , Divide the several spatial points into the same subregion.
  • the terminal device determines the height data corresponding to each sub-region according to the height data of the spatial point falling into each sub-region.
  • the height data corresponding to the sub-region is determined according to the average value of the heights of all spatial points whose plane positions are in the same sub-region.
  • a rasterized height map of the target area can be obtained.
  • the amount of data is small, and the key Information will not be lost.
  • Step S420 Obtain safety height correction data.
  • the terminal device obtains safety height correction data of a part of or all sub-areas in the target area.
  • the safety height correction data may be preset safety height correction data stored in the memory, or may be safety height correction data determined according to a user's safety height correction operation.
  • the terminal device displays the height map on the interactive interface.
  • the user can view the height map displayed on the interactive interface and perform safe height correction operations through human-computer interaction, for example, increase the height of some or all sub-areas in the target area by a certain value; therefore, the terminal device can correct the operation according to the safe height Determine the safety height correction data of some sub-areas or all sub-areas, and the safety height correction data of different sub-areas may be the same or different.
  • Step S430 Correct the altitude map of the target area according to the safe altitude correction data to obtain a lower limit altitude map of safe flight of the target area.
  • the terminal device correcting the altitude map of the target area according to the safe altitude correction data to obtain the safe flight lower limit altitude map of the target area includes: correcting a plurality of subordinates according to the safe altitude correction data. The altitude data corresponding to each sub-region of the region is corrected to obtain the lower limit of safe flight altitude of each sub-region.
  • the target area is divided into 100 sub-areas, and the height map of the target area includes the height data of each of the 100 sub-areas; step S420 determines the safety height correction data corresponding to the 80 sub-areas according to the user's safety height correction operation, Then, the safety altitude correction data corresponding to the 80 sub-areas are respectively superimposed on the altitude data of the 80 sub-areas to obtain a rasterized safe flight lower limit altitude map of the target area.
  • the lower limit of safe flight height of each sub-area is used to limit the minimum flying height of the drone when flying in the sub-area.
  • Step S440 Transmit the safe flight lower limit altitude map to the drone.
  • the boundary of the lower safe flight altitude map is used to restrict the drone from flying in the target area
  • the safe lower altitude data in the safe flight lower altitude map is used to restrict the minimum value of the drone when flying in the target area. Flying height.
  • the minimum flying height is not lower than the lower safe flying height of the sub-area in the lower safe flying height map.
  • the data processing method of the terminal device provided in the above embodiment further determines the height data of each sub-areas by rasterizing the target area into a plurality of sub-areas.
  • the height map data of the obtained target area is small and it is convenient for the user to set each sub-areas.
  • the safe altitude correction data corresponding to the sub-area, and the final safe flight lower limit altitude map data volume is also small, which is conducive to faster transmission to the UAV and the UAV to store and use the safe flight lower limit altitude map.
  • FIG. 7 is a schematic flowchart of a control method for drones according to an embodiment of the present application.
  • the control method can be applied to an unmanned aerial vehicle to control the unmanned aerial vehicle to fly according to a lower-limit safe flight altitude map obtained from a terminal device.
  • the drone can be a rotary-wing drone, such as a four-rotor drone, a six-rotor drone, an eight-rotor drone, or a fixed-wing drone.
  • control method of the drone of this embodiment may include, but is not limited to, step S510 to step S530.
  • Step S510 Obtain a lower limit altitude map for safe flight of the target area from the terminal device.
  • the safe flight lower limit altitude map is acquired by the terminal device according to the data processing method of the foregoing embodiment, and the terminal device transmits the safe flight lower limit altitude map to the drone.
  • the terminal device obtains the altitude map of the target area, obtains safe altitude correction data, and corrects the altitude map of the target area according to the safe altitude correction data to obtain the safe flight lower limit altitude map of the target area, And transmitting the lower limit altitude map of safe flight to the drone.
  • the safe flight lower limit altitude map adds a buffer zone determined based on the safe altitude correction data.
  • the safe altitude correction data is determined based on the surveying and mapping error of the altitude map and/or the altitude deviation during flight control of the drone.
  • the drone can obtain the safe flight lower limit altitude map from the terminal device through the following possible implementations: 1.
  • the terminal device and the drone directly communicate with each other, and the terminal device can directly The lower flight altitude map is sent to the drone, or the terminal device is directly connected to the drone's control terminal.
  • the terminal device can directly send the safe flight lower altitude map to the control terminal, and the drone can communicate directly with the control terminal
  • the link obtains the lower flight limit altitude map sent by the control terminal; 2.
  • the terminal device can store the safe flight lower limit altitude map in a mobile storage medium, such as a memory card, and then transfer the safe flight lower limit altitude map to a mobile storage medium.
  • Man-machine Man-machine.
  • the mobile storage medium is installed on the drone, and the drone reads the safe flight lower limit altitude map from the mobile storage medium; 3.
  • the terminal device sends the safe flight lower limit altitude map to the server, and the server can send the safe flight altitude map to the server.
  • the lower flight limit altitude map is sent to the drone, or the server can send the safe flight lower limit altitude map to the control terminal of the drone, and then the drone obtains the safe flight lower limit altitude map from the control terminal.
  • Step S520 Restrict the drone to fly in the target area according to the boundary of the lower safe flight altitude map.
  • the drone flies autonomously in the target area.
  • the drone performs autonomous obstacle avoidance flight in the target area.
  • the drone can autonomously control its own flight height, flight direction, flight speed, etc.; the drone can also be within the target area according to a preset route Flight autonomous flight.
  • the drone accepts control instructions from the control terminal used by the user, and flies in the target area according to the control instructions; an exemplary drone adjusts its flight height, flight direction, flight speed, etc. according to the control instructions .
  • an alarm message is sent to the control terminal communicatively connected with the drone to prompt the user to reduce the flight speed and adjust the flight direction; Or if the drone is about to fly out of the boundary of the lower safe flight altitude chart, autonomously reduce the flight speed and adjust the flight direction.
  • the safe flight lower limit altitude map includes the altitude value of each position in the target area.
  • the altitude value of each position in the safe flight lower limit altitude map is superimposed by the altitude value of each position in the target area altitude map and the safe altitude correction data. owned.
  • the safe flight lower limit altitude map includes boundaries. As shown in FIG. 3, the target area is a rectangular area defined by x1 to x9 and y1 to y6. Therefore, the boundary of the safe flight lower limit altitude map can be determined.
  • the terminal device determines the height map of the target area based on the images taken when the surveying drone is flying in the target area, and the boundary of the height map is the boundary of the lower limit height map for safe flight.
  • the terminal device determines the height map of the measurement area according to the images taken by the surveying drone flying in the target area, and then obtains the target area from the height map of the measurement area according to the user's target area selection operation
  • the altitude map of the target area is the boundary of the lower limit altitude map for safe flight.
  • the boundary of the lower safe flight altitude map is determined by the target area.
  • Step S530 Limit the minimum flying altitude of the drone when flying in the target area according to the lower safe altitude data in the lower safe flight altitude map.
  • the safe flight lower limit altitude map includes the altitude value of each position in the target area, that is, the safe lower limit altitude data; the altitude value of each position in the safe flight lower limit altitude map is superimposed by the altitude value of each position in the target area altitude map and the safe altitude correction data owned.
  • the safe lower limit altitude data in the safe flight lower limit altitude map adds a buffer determined based on the safe altitude correction data, and the safe flight limit altitude data is restricted by the safe lower limit altitude data in the safe flight lower limit altitude map.
  • the minimum flying height of the man-machine when flying in the target area so that the flying height of the drone is not lower than the minimum flying height corresponding to the current position, and avoiding the drone from touching some objects when flying in the target area, such as Roof, water surface, etc. to ensure flight safety.
  • the drone accepts the control instructions of the control terminal used by the user, and flies in the target area according to the control instructions; if the flying altitude of the drone is about to be lower than the lower safety limit in the lower safe flight altitude map When the minimum flight altitude is limited by the altitude data, an alarm message is sent to the control terminal communicating with the drone to remind the user to increase the flying altitude; or if the flying altitude of the drone during flight is about to fall below the lower limit of safe flight altitude When the minimum flight altitude is limited by the lower safety limit altitude data in the figure, the flight altitude is raised autonomously.
  • the UAV is flying in a fixed-wing mode within the real-time target area, that is, keeping the change of the flying height smaller than the preset change range.
  • the drone's flying height In order to prevent drastic changes in the flying height of the drone when the user is manipulating it, causing the drone's flying height to be less than the minimum flying height, causing danger, and solving the problem of handling.
  • the control method of the drone provided in this embodiment obtains the lower safe flight altitude map of the target area formed by the terminal device, and restricts the drone to fly in the target area according to the boundary of the safe flight lower altitude map, And according to the safe lower limit height data in the safe lower limit height map, the minimum flying height of the drone when flying in the target area is restricted, so as to ensure that the drone can fly safely in the target area and reduce The technical threshold for drone control.
  • the drone includes a photographing device
  • the control method of the drone further includes: acquiring an image photographed by the photographing device, and sending the image to a control terminal communicatively connected with the drone So that the control terminal displays the image.
  • the user can easily and safely complete the tour of the target area through the drone, avoiding the user from controlling the drone Loss caused by improper.
  • the target area includes a plurality of rasterized sub-areas
  • the lower safe flight altitude map of the target area includes a lower safe flight altitude corresponding to each of the multiple sub-areas.
  • the terminal device obtains height data of multiple spatial points in the target area, performs rasterization processing on the target area to obtain the multiple sub-areas, and according to the height of the spatial point falling into each sub-area
  • the data determines the height data corresponding to each of the sub-regions; then, the safe height correction data of some sub-areas or all sub-areas in the target area is obtained, and the height data corresponding to each sub-area of the multiple sub-regions is performed according to the safe height correction data. Correction to obtain the lower safe flight altitude of each sub-area, thereby obtaining the safe flight lower altitude map of the target area.
  • step S530 restricting the minimum flying height of the drone when flying in the target area according to the safety lower limit height data in the safe flying lower limit height map includes: according to the safety of each sub-area The lower flying height limits the minimum flying height of the drone when flying in the sub-area.
  • the minimum flying height is not lower than the lower safe flying height of the sub-area in the lower safe flying height map.
  • the data volume of the lower limit altitude map for safe flight is also smaller, which is conducive to faster transmission to the drone and the storage and use of the lower limit altitude map for safe flight by the drone.
  • control method of the drone further includes step S540 to step S560.
  • Step S540 Obtain position information of the target object in the target area from the terminal device.
  • the terminal device determines the location information of the target object in the target area according to the user's target object selection operation, and the target object is, for example, a building, a mountain, a tree, etc.
  • the drone and/or the control terminal communicatively connected with the drone obtains the safe flight lower limit altitude map of the target area from the terminal device, the position information of the target object in the safe flight lower altitude map is also obtained.
  • Step S550 Detect whether the position of the drone and the position of the target object meet a preset position relationship.
  • the position of the drone is detected in real time, and whether the position of the drone is consistent with the position of a target object Meet the preset position relationship.
  • the position of the drone is sent to the control terminal in real time; the control terminal compares the real-time position of the drone with The position information of each target object in the target area is compared to detect whether the position of the drone and the position of the target object satisfy a preset position relationship.
  • Step S560 If the position of the drone and the position of the target object satisfy the preset position relationship, send instruction information to the control terminal that is in communication with the drone so that the control terminal outputs the Descriptive information of the target object.
  • the control terminal is instructed to output The description information of the target object.
  • the terminal device determines the position information of the target object in the target area according to the user's target object selection operation, it also pops up an editing interface for the description information of the target object on the interactive interface, so that the user can edit the description information of the target object.
  • the drone and/or the control terminal communicating with the drone obtains the safe flight lower limit altitude map of the target area from the terminal device, it also obtains the location information and description information of the target object in the safe flight lower altitude map.
  • control terminal obtains the description information of the target object from the Internet according to the location information of the target object, such as the location information of the Forbidden City.
  • the description information includes one or more of audio information, image information, and text information.
  • control terminal to output the description information of the target object includes: playing audio description information of the target object through a voice playback device, displaying text description information of the target object through a display device, and/or playing image description information through a display device.
  • the control terminal when the drone flies to a certain scenic spot in the scenic spot, the control terminal outputs the explanation of the scenic spot.
  • FIG. 9 is a schematic block diagram of a terminal device 600 according to an embodiment of this specification.
  • the terminal device 600 includes a processor 601 and a memory 602, and the processor 601 and the memory 602 are connected through a bus 603, which is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 601 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the aforementioned terminal device data processing method when the computer program is executed.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:
  • the lower safe flight altitude map is transmitted to the drone, wherein the boundary of the safe flight lower altitude map is used to restrict the drone from flying in the target area, and the safe lower altitude data in the safe flight lower altitude map is used To limit the minimum flying height of the drone when flying in the target area.
  • the processor 601 further implements: detecting a user's safety height correction operation, and determining the safety height correction data according to the safety height correction operation.
  • the height map of the target area is determined according to the images taken by the surveying and mapping drone flying in the target area.
  • the processor 601 realizes the acquisition of the height map of the target area, it realizes: acquiring the image transmitted by the surveying and mapping drone, the position of the surveying and mapping drone corresponding to the image, and the output of the image.
  • the posture of the human-machine camera; the height map of the target area is determined according to the image, the position and the posture.
  • the processor 601 realizes the acquisition of the height map of the target area, it realizes: acquire the height map of the measurement area, wherein the measurement area includes the target area, and the height map of the measurement area is based on surveying
  • the image taken when the aircraft is flying in the target area is determined; the user’s target area selection operation is detected, and the target area is determined from the measurement area according to the target area selection operation; the height map of the measurement area is obtained Height map of the target area.
  • the processor 601 further implements: acquiring a digital map of the measurement area, where the digital map is obtained by splicing the images; and displaying the digital map on an interactive interface.
  • the processor 601 realizes the detection operation of selecting the target area of the user, it realizes: detecting the user's selection operation of the target area of the interactive interface displaying the digital map.
  • the processor 601 implements the correction of the altitude map of the target area according to the safe altitude correction data to obtain the altitude map of the lower limit of safe flight of the target area, implement: correct the safe altitude
  • the data is superimposed on each height data in the height map; the height data in the superimposed height map is determined as the safe flight lower limit height map of the target area.
  • the target region includes a plurality of rasterized subregions
  • the height map of the target region includes height data corresponding to each subregion of the plurality of subregions.
  • the processor 601 implements the correction of the altitude map of the target area according to the safe altitude correction data to obtain the safe flight lower limit altitude map of the target area, it implements: correcting according to the safe altitude The data corrects the altitude data corresponding to each of the multiple sub-regions to obtain the lower limit of safe flight altitude of each sub-region; the lower limit of safe flight altitude of each of the sub-regions is used to restrict the drone in the The minimum flying altitude when flying in the sub-area.
  • the processor 601 realizes the acquisition of the height map of the target area, it realizes: acquire height data of multiple spatial points in the target area; perform rasterization processing on the target area to acquire the multiple sub-regions ; Determine the height data corresponding to each sub-region according to the height data of the spatial points falling into each of the sub-regions.
  • the height data of the multiple spatial points are determined based on the images taken by the surveying and mapping drone flying in the target area.
  • the UAV and the control terminal communicatively connected with the UAV form an unmanned aerial vehicle system
  • the processor 601 also realizes: acquiring the position information and description information of the target object in the target area;
  • the machine system transmits the position information and description information of the target object in the target area to instruct the control terminal to output the target object when the position of the drone and the position information of the target object meet a preset position relationship Description information.
  • the description information includes one or more of audio information, image information, and text information.
  • the embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation
  • This example provides the steps of the data processing method for terminal equipment.
  • the computer-readable storage medium may be the internal storage unit of the terminal device described in any of the foregoing embodiments, such as the hard disk or memory of the terminal device.
  • the computer-readable storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk equipped on the terminal device, a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD). ) Card, Flash Card, etc.
  • a plug-in hard disk equipped on the terminal device such as a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD). ) Card, Flash Card, etc.
  • SD Secure Digital
  • FIG. 10 is a schematic block diagram of a drone 700 provided in an embodiment of this specification.
  • the UAV 700 includes a processor 701 and a memory 702, and the processor 701 and the memory 702 are connected by a bus 703.
  • the bus 703 is, for example, an I2C (Inter-integrated Circuit) bus.
  • the processor 701 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the aforementioned drone control method when the computer program is executed.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the following steps when executing the computer program:
  • the minimum flying height of the drone when flying in the target area is restricted according to the lower safety limit height data in the lower safety limit height map.
  • the target area includes a plurality of rasterized sub-areas
  • the safe flight lower limit altitude map of the target area includes a safe flight lower limit altitude corresponding to each of the plurality of sub-areas.
  • the processor 701 realizes the limitation of the minimum flying height of the drone when flying in the target area according to the safety lower limit height data in the safe flight lower limit height map, it realizes: according to the The lower safety limit height of each sub-area limits the minimum flying height of the drone when flying in the sub-area.
  • the processor 701 further implements: acquiring position information of the target object in the target area from the terminal device; detecting whether the position of the drone and the position of the target object meet a preset position relationship; If the position of the drone and the position of the target object meet the preset positional relationship, send instruction information to the control terminal communicatively connected with the drone to make the control terminal output the target object Description.
  • the description information includes one or more of audio information, image information, and text information.
  • the drone includes a photographing device
  • the processor 701 further implements: acquiring an image photographed by the photographing device, and sending the image to a control terminal communicatively connected with the drone so that the control terminal Display the image.
  • the embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation
  • the example provides the steps of the drone control method.
  • the computer-readable storage medium may be the internal storage unit of the drone described in any of the foregoing embodiments, such as the hard disk or memory of the drone.
  • the computer-readable storage medium may also be an external storage device of the drone, for example, a plug-in hard disk equipped on the drone, a smart memory card (Smart Media Card, SMC), or a secure digital (Secure Digital, SD card, Flash Card, etc.
  • the terminal devices, drones, and computer-readable storage media provided in the above embodiments of this specification obtain the height map of the target area, and then correct the height map of the target area according to the safe height correction data to obtain the lower limit of safe flight altitude of the target area
  • the safe flight lower limit altitude map is sent to the drone so that the drone can fly within the boundaries of the safe flight lower limit altitude map and limit the minimum flight time according to the safe lower limit altitude data in the safe flight lower limit altitude map Flying height; thereby ensuring that the drone can fly safely in the target area and lowering the technical threshold for drone control.

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Abstract

La présente invention concerne un dispositif terminal et un procédé de traitement de données associé, et un véhicule aérien sans pilote et un procédé de commande associé. Le procédé de traitement de données consiste : à acquérir une carte de hauteur de région cible (S110) ; à acquérir des données de correction de hauteur (S120) ; à corriger la carte de hauteur selon les données de correction de hauteur pour acquérir une carte de hauteur de limite inférieure de vol (S130) ; et à transmettre la carte de hauteur de limite inférieure de vol à un véhicule aérien sans pilote (S140) ; la limite de la carte de hauteur de limite inférieure de vol étant utilisée pour limiter le vol du véhicule aérien sans pilote dans une région cible, et des données de hauteur de limite inférieure étant utilisées pour limiter une hauteur de vol ; et le seuil de commande du véhicule aérien sans pilote est réduit.
PCT/CN2019/098392 2019-07-30 2019-07-30 Dispositif terminal et procédé de traitement de données associé, et véhicule aérien sans pilote et procédé de commande associé WO2021016867A1 (fr)

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PCT/CN2019/098392 WO2021016867A1 (fr) 2019-07-30 2019-07-30 Dispositif terminal et procédé de traitement de données associé, et véhicule aérien sans pilote et procédé de commande associé

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