CN109308077A - A kind of mapping method based on aircraft, apparatus and system - Google Patents
A kind of mapping method based on aircraft, apparatus and system Download PDFInfo
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- CN109308077A CN109308077A CN201811038326.8A CN201811038326A CN109308077A CN 109308077 A CN109308077 A CN 109308077A CN 201811038326 A CN201811038326 A CN 201811038326A CN 109308077 A CN109308077 A CN 109308077A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of mapping methods based on aircraft, apparatus and system, and being somebody's turn to do the mapping method based on aircraft includes: image when obtaining aircraft flight, show the reference marker and image for alignment in image display interfaces；Receive the trigger action of user's input；The mark point in image is recorded according to trigger action；Practical mapping dot position information corresponding with mark point is obtained according to the mapping relations of image and actual position.By applying the present invention, being able to solve the problem of mapping worker surveys and draws low efficiency relative to manually mapping is got ready；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process, improve the efficiency of mapping, can be realized and map out corresponding high precision position information in a short time.
Description
Technical field
The present invention relates to UAV Flight Control technical fields, and in particular to a kind of mapping method based on aircraft, dress
It sets and system.
Background technique
The existing mode for ground mapping mainly includes two kinds, and one is surveyed and drawn by unmanned plane.Generally, nothing
Man-machine mapping is needed by going to survey and draw according to course line by unmanned plane again behind the good course line of advance planning, and the later period also needs photo to carry out
Software splicing, this mapping method is excessively complicated and time-consuming, impracticable for the occasion of certain urgent need high-precision course lines.
Another kind is by manually being surveyed and drawn, and artificial mapping is usually to hold hand-held mapping equipment people in staff's hand
Industrial and commercial bank, which is walked, is needing the enterprising pedestrian's work in place surveyed and drawn to get (such as artificial mapping field boundary and obstacle in plant protection industry ready
Object).It is surveyed and drawn as it can be seen that artificial mapping needs people to walk, when encountering some complicated landforms, staff possibly can not be reached, such as
Fruit walks in complicated landform survey and draw by force, then danger can be brought to staff, while artificial mapping efficiency is also relatively low.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of mapping method based on aircraft, apparatus and system, to solve
Complexity existing for existing unmanned plane mapping means, time-consuming, and safety existing for artificial mapping means is poor, mapping efficiency
Lower problem.
According in a first aspect, the embodiment of the invention provides a kind of mapping methods based on aircraft, comprising: obtain flight
Image when device flight shows the reference marker and described image for alignment in image display interfaces；Receive user's input
Trigger action；The mark point in described image is recorded according to the trigger action；According to the mapping relations of image and actual position
Obtain practical mapping dot position information corresponding with mark point.
The mapping method based on aircraft of the embodiment of the present invention is able to solve mapping effect relative to manually mapping is got ready
The low problem of rate；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process, improve the efficiency of mapping, can be realized
Corresponding high-precision course line is mapped out in a short time.
With reference to first aspect, in first aspect first embodiment, the mapping method based on aircraft further include:
User is received to be instructed according to the remote control distributor that described image display interface inputs；Fly according to remote control distributor instruction control is described
The flight of row device.
With reference to first aspect or first aspect first embodiment, in first aspect second embodiment, the basis
The mapping relations of image and actual position obtain practical mapping dot position information corresponding with mark point, comprising: obtain described fly
The real-time requiring coordinate information of row device, the posture information of the picture pick-up device of the aircraft, the picture pick-up device and positioning
The relative position information of device and captured image, wherein the positioning device is for confirming the real-time poor of the aircraft
Divide positioning coordinate information；According to the real-time requiring coordinate information, posture information, the picture pick-up device and positioning device
Relative position information and described image generate the practical mapping dot position information.
Second embodiment with reference to first aspect, in first aspect third embodiment, the posture information is described
The vertical angle of picture pick-up device is taken pictures information, and described image is the image of vertically taking pictures of picture pick-up device shooting.
With reference to first aspect, in the 4th embodiment of first aspect, described image display interface includes: first person master
Viewing angles picture, vertical angle of view shooting picture and map picture.
With reference to first aspect, in the 5th embodiment of first aspect, the reference marker for alignment is included at least:
At least one of cross shape, arrowhead form.
According to second aspect, the embodiment of the invention provides a kind of mapping methods based on aircraft, comprising: flies described
The image when aircraft flight for at least picture pick-up device shooting being arranged on row device is sent to controller；Receive controller
The control instruction of transmission, the control instruction are to be generated according to user in the trigger action that the controller inputs；According to institute
It states control instruction to take pictures, and the real-time requiring coordinate information for getting the information taken pictures and the aircraft ready is sent to
The controller.
The mapping method based on aircraft of the embodiment of the present invention is able to solve relative to manually mapping is got ready and gets people ready
Member walks the problem lower in the safety of complicated boundary of land block；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process,
The efficiency for improving mapping can be realized the mapped positions dot position information for obtaining region to be surveyed and drawn in a short time.
In conjunction with second aspect, in second aspect first embodiment, the information taken pictures includes: described at least one to take the photograph
As the relative position information and described image of the posture information of equipment, the picture pick-up device and positioning device, wherein the positioning
Device is used to confirm the real-time requiring coordinate information of the aircraft.
In conjunction with second aspect first embodiment, in second aspect second embodiment, the posture information is described
The vertical angle of an at least picture pick-up device is taken pictures information, and described image is the figure of vertically taking pictures of at least picture pick-up device shooting
Picture.
In conjunction with second aspect first embodiment, in second aspect third embodiment, the positioning device is RTK days
Line is believed according to the relative position that the position of the picture pick-up device and the installation of RTK antenna calculates the picture pick-up device and RTK antenna
Breath.
According to the third aspect, the embodiment of the invention provides a kind of plotting boards based on aircraft, comprising: display mould
Block shows the reference marker and described image for alignment in image display interfaces for obtaining image when aircraft flight；
Control instruction receiving module, the trigger action inputted for receiving user according to reference marker；Mark point logging modle, is used for root
According to the mark point in trigger action record described image；Practical mapped point position information acquisition module, for according to image
And the mapping relations of actual position obtain practical mapping dot position information corresponding with the mark point.
The plotting board based on aircraft of the embodiment of the present invention is able to solve relative to manually mapping is got ready and gets people ready
Member walks the problem lower in the safety of complicated boundary of land block；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process,
The efficiency for improving mapping can be realized and map out corresponding high precision position information in a short time.
In conjunction with the third aspect, in third aspect first embodiment, the plotting board based on aircraft further include:
Remote control distributor command reception module is instructed for receiving user according to the remote control distributor that described image display interface inputs；Flight
Control module, for controlling the aircraft flight according to remote control distributor instruction.
In conjunction with the third aspect or third aspect first embodiment, in third aspect second embodiment, the reality
Mapped point position information acquisition module includes: coordinate acquisition and submodule of taking pictures, for obtaining the real time differential of the aircraft
Position coordinate information, the aircraft picture pick-up device posture information and captured image；Practical mapping dot position information
Submodule is generated, for generating the practical survey according to the real-time requiring coordinate information, posture information and described image
Plotting positions information.
In conjunction with third aspect second embodiment, in third aspect third embodiment, the posture information is described
The vertical angle of picture pick-up device is taken pictures information, and described image is the image of vertically taking pictures of picture pick-up device shooting.
In conjunction with the third aspect, in the 4th embodiment of the third aspect, described image display interface includes: first person master
Viewing angles picture, vertical angle of view shooting picture and map picture.
In conjunction with the third aspect, in the 5th embodiment of the third aspect, the reference marker for alignment is included at least:
At least one of cross shape, arrowhead form.
According to fourth aspect, the embodiment of the invention provides a kind of plotting boards based on aircraft, comprising: image is sent
Module, the image when aircraft flight for shooting at least picture pick-up device being arranged on the aircraft are sent to
Controller；Control instruction receiving module, for receiving the control instruction of controller transmission, the control instruction is existed according to user
The trigger action of controller input and generate；Mapping information sending module, for being taken pictures according to the control instruction,
And the real-time requiring coordinate information of the information taken pictures and the aircraft is sent to the controller.
The plotting board based on aircraft of the embodiment of the present invention is able to solve relative to manually mapping is got ready and gets people ready
Member walks the problem lower in the safety of complicated boundary of land block；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process,
The efficiency for improving mapping can be realized and map out corresponding high precision position information in a short time.
In conjunction with fourth aspect, in fourth aspect first embodiment, the information taken pictures includes: described at least one to take the photograph
As the posture information and described image of equipment.
In conjunction with fourth aspect first embodiment, in fourth aspect second embodiment, the posture information is described
The vertical angle of an at least picture pick-up device is taken pictures information, and described image is the figure of vertically taking pictures of at least picture pick-up device shooting
Picture.
In conjunction with fourth aspect second embodiment, in fourth aspect third embodiment, the figure of vertically taking pictures is shot
The alternate position spike of picture pick-up device and RTK the antenna installation of picture is compensated by software algorithm.
According to the 5th aspect, the embodiment of the invention provides a kind of aircraft to survey and draw control system, the aircraft mapping
Control system includes: aircraft, controller and display device, and the aircraft includes: flight control modules and at least one camera shooting
Equipment, the picture pick-up device are used to shoot the image when aircraft flight；The display device shows the ginseng for alignment
Examine label and described image；The controller is for receiving the trigger action that user inputs according to reference marker, according to the touching
The mark point in operation note described image is sent out, and the control instruction generated according to the trigger action is sent to the flight
Control module；The flight control modules control the aircraft according to the control instruction and take pictures getting ready, and will take pictures
The real-time requiring coordinate information of information and the aircraft is sent to the controller；The controller is taken pictures according to
Information and real-time requiring coordinate information generate practical mapping dot position information corresponding with mark point.
The aircraft mapping control system of the embodiment of the present invention is able to solve mapping efficiency relative to manually mapping is got ready
Low problem；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process, improve the efficiency of mapping, can be realized
Corresponding high precision position information is mapped out in short time.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
Fig. 1 shows the structural schematic diagram of aircraft mapping control system according to an embodiment of the present invention；
Fig. 2 shows the schematic diagrames of the picture shown in display device according to an embodiment of the present invention；
Fig. 3 A to Fig. 3 C shows the schematic diagram of the flight path of aircraft according to an embodiment of the present invention；
Fig. 4 shows the flow diagram of the mapping method according to an embodiment of the present invention based on aircraft；
Fig. 5 shows the structural schematic diagram of the plotting board according to an embodiment of the present invention based on aircraft；
Fig. 6 shows the flow diagram of the mapping method according to another embodiment of the present invention based on aircraft；
Fig. 7 shows the structural schematic diagram of the mapping method according to another embodiment of the present invention based on aircraft.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
As shown in Figure 1, being the application scenarios schematic diagram of the aircraft mapping control system of the embodiment of the present invention.The aircraft
Mapping control system specifically includes that aircraft 1, controller 2 and display device 3, aircraft 1 include: flight control modules 11 and
An at least picture pick-up device 12.
Wherein, the image when picture pick-up device 12 shooting 1 flight of aircraft；The image of display device 3 shows that picture is shown
Reference marker and described image for alignment.Optionally, in some embodiments of the invention, which can wrap
Include: forward sight shoots camera and shoots camera perpendicular to the ground, and forward sight shooting camera is mainly used for first person main perspective (FPV) picture
Face barrier monitoring, perpendicular to the ground shoot camera be mainly used for shoot vertical angle of view picture 22 carry out mapping get ready.Accordingly, such as
Shown in Fig. 2, which may be configured as two pictures of display, alternatively, two display devices 3 of setting, to show this respectively
First person main perspective (FPV) picture 21 and vertical angle of view picture 22.Further, which may also display third
Picture, or setting third display device 3, to show whole map picture 22, so that operator's overview is global.
Trigger action of the controller 2 to receive user's input, records the mark in described image according to the trigger action
Point, and control instruction is generated according to the trigger action, control instruction is sent to flight control modules 11.Flight control modules 11
It controls aircraft 1 according to the control instruction to be taken pictures get ready accordingly, and by the real-time poor of take pictures information and the aircraft
Positioning coordinate information is divided to be sent to controller 2, controller 2 is according to take pictures information and the real-time requiring coordinate information, camera shooting
The relative position information of equipment 12 and positioning device obtains practical mapping dot position information corresponding with mark point.
Optionally, in some embodiments of the invention, the positioning device of aircraft mapping control system is poor in real time
Divide positioning system (RTK), which is set on aircraft 1, the real-time requiring coordinate of real-time monitoring aircraft 1
Information is supplied to picture pick-up device 12, and the vertical angle of view image and real-time requiring coordinate that picture pick-up device 12 gets shooting ready are believed
Breath, which is packaged, to be uploaded, so that more accurate information of taking pictures is provided, so that it is determined that more accurately surveying and drawing dot position information.
In practical application, the trigger action of user's input be can be according to (such as the remote control device of controller 2 being separately provided
Deng) input, it is also possible to carry out touch-control input by the touch screen of display device 3, and contact action is sent to controller 2,
The present invention is not limited thereto.
Optionally, in some embodiments of the invention, above-mentioned image shows that picture then refers to first person main perspective
(FPV) picture 21, vertical angle of view picture 22 and map picture 23.The trigger action of user's input refers to of both mainly may include
It enables.On the one hand, it is that the remote control distributor that remotely-piloted vehicle 1 flies instructs, passes through the remote control distributor and instruct the control aircraft 1
Flight path, direction, speed, height etc..On the other hand, be to indicate that instruction is got in the mapping got ready of aircraft 1 ready, when with
After instruction is got in family input mapping ready, the vertical angle of view shooting camera on aircraft 1 is shot.
The mapping process that the aircraft mapping control system of the embodiment of the present invention is realized, gets mapping, energy ready relative to artificial
Enough solve the problems, such as that getting personnel ready walks and mapping low efficiency lower in the safety of complicated boundary of land block；Relative to tradition nobody
Machine mapping, simplify mapping control process, improve the efficiency of mapping, can be realized map out in a short time it is corresponding high-precision
Spend course line.
Below in conjunction with a concrete application example to the mapping method based on aircraft, the apparatus and system of the embodiment of the present invention
It is described further.
Fig. 2 shows be the picture shown in display device 3 schematic diagram, the content shown in the display device 3 is main
It include: first person main perspective picture 21, vertical camera view 22, map picture 23, boundary of land block 20, plot barrier 222,
Cross finds a view line 221 (reference marker i.e. for alignment).It should be noted that three pictures in display device 3 can be one
Three pictures of different location in a screen are also possible to only show a picture by operation switching, and display device 3 can also divide
Corresponding picture is individually shown for separating for multiple display devices, and cross line 221 of finding a view can also be other shapes (such as arrow
Shape etc.) reference marker, any position in vertical angle of view picture 22 in addition to middle position also can be set in cross line 221 of finding a view
It sets, line of finding a view can be used for the object of the specific shape in markup picture, such as can be identified in image by hough algorithm
Straight line, then when operator does not operate, line of finding a view can be with default label on the straight line identified, can also basis
Recognizer identifies that the certain objects in image, recognizer can also be matching algorithm, such as can be in matching image
Crossroad, when having crossroad to be matched algorithm in image to identify, line of finding a view can be with default label at the parting of the ways
Place；The mapping that operator issues, which gets instruction ready and is also possible to carry out by 3 screen of display device to touch confirmation, to be got ready.
Firstly, observing the picture and map that display device 3 is shown by user, while user can be remotely controlled by controlling terminal and be flown
The case where row device 1 flies, and flight path can be shown according to real screen is adjusted, as shown in Fig. 3 A to Fig. 3 C, aircraft 1
It is flown by operator according to the boundary 20 in plot 30, boundary 20 can be the regular figures such as approximately round, oval, rectangle
Boundary 20, be also possible to the boundary of irregular figure.When the flight of aircraft 1 to the top for needing to survey and draw boundary of land block 20 or
Plot needs to mark the top of barrier 222, and flying height is above the ground level or crop surface, passes through the vertical view of display device 3
Cross in angle picture 22 line 221 of finding a view is directed at the boundary of land block to be got ready or obstacle carries out triggering manually and gets operation ready, this
When flight control modules 11 according to triggering get ready operation handlebar currently collect RTK positioning coordinate information be supplied to vertical camera mould
Block, camera model can current shooting to photo and RTK three-dimensional coordinate information be saved together, generation takes pictures and gets information ready,
It is fed back.
Cross finds a view line 221 for identifying the location information in image, can be " ten " word, and direction can change,
Such as its can according to the special object adjustment direction shown in image in picture, the horizontal line for the line 221 that cross can be found a view or
Person's vertical line remains substantially parallel with road edge, while its position can also be kept as far as possible to entreat in the road；Cross is found a view
Line 221 can also fix that position is constant or fixed-direction is constant, and cross line of finding a view is also possible to fly with reference to unmanned plane
Line direction and change direction, such as the current direction of unmanned plane are to direct north, then the find a view vertical line of line of cross is southern and northern
To display；It finds a view line if it is arrow, the direction of arrow can remain consistent with road direction, or keep and unmanned plane
Heading is consistent.
The embodiment of the present invention also provides a kind of mapping method based on aircraft, can be applied to above-mentioned aircraft mapping control
In system, as shown in figure 4, the mapping method includes:
Step S41: obtain aircraft flight when image, image display interfaces show for be aligned reference marker and
The image；Wherein, image when aircraft flight can shoot to obtain by the picture pick-up device of setting on board the aircraft, which sets
It is standby can include: forward sight shoots camera and shoots camera perpendicular to the ground, and forward sight shooting camera is mainly used for first person main perspective
(FPV) picture barrier monitor, perpendicular to the ground shoot camera be mainly used for shoot vertical angle of view picture carry out mapping get ready.The figure
As display interface specifically includes that first person main perspective shooting picture, vertical angle of view shooting picture and map picture.
Step S42: the trigger action of user's input is received；The trigger action of user's input can be through display device
Touch screen carries out touch-control input, is also possible to according to the remote control device input being separately provided, such as button, toggle switch etc., this
Invention is not limited thereto.
Step S43: the mark point in image is recorded according to trigger action；Such as when operator triggers the central point of image
When, record the coordinate information of the corresponding pixel points for the point that present image is triggered.
Step S44: practical mapped point position corresponding with mark point is obtained according to the mapping relations of image and actual position
Information.
Optionally, in some embodiments of the invention, the process of step S44 specifically includes: obtaining the aircraft
Real-time requiring coordinate information, the aircraft picture pick-up device posture information, the picture pick-up device and positioning device
Relative position information and captured image, wherein the positioning device is used to confirm that the real time differential of the aircraft to be fixed
Position coordinate information；According to the opposite of the real-time requiring coordinate information, posture information, the picture pick-up device and positioning device
Location information and described image generate the practical mapping dot position information.In a preferred embodiment, the posture information can
It takes pictures information for the vertical angle of the picture pick-up device, described image is the image of vertically taking pictures of picture pick-up device shooting.
Optionally, in some embodiments of the invention, user can also input remote control distributor instruction by display device；Root
Control aircraft flight is instructed according to the remote control distributor.
The mapping method based on aircraft of the embodiment of the present invention is able to solve relative to manually mapping is got ready and gets people ready
Member walks the problem lower in the safety of complicated boundary of land block；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process,
The efficiency for improving mapping can be realized and map out corresponding high-precision course line in a short time.
The embodiment of the present invention also provides a kind of plotting board based on aircraft, as shown in figure 5, the plotting board mainly wraps
It includes:
Display module 41 shows the ginseng for alignment in image display interfaces for obtaining image when aircraft flight
Examine label and the image；Wherein, image when aircraft flight can shoot to obtain by the picture pick-up device of setting on board the aircraft,
The picture pick-up device can include: forward sight shoots camera and shoots camera perpendicular to the ground, and forward sight shooting camera is mainly used for the first
Claim main perspective (FPV) picture barrier monitoring, perpendicular to the ground shoot camera be mainly used for shoot vertical angle of view picture surveyed and drawn
It gets ready.The image display interfaces specifically include that first person main perspective shooting picture, vertical angle of view shooting picture and ground picture
Face.
Control instruction receiving module 42, for receiving the trigger action of user's input；The trigger action of user's input can be with
It is that touch-control input is carried out by the touch screen of display device, is also possible to according to the remote control device input being separately provided, this
Invention is not limited thereto.
Mark point logging modle 43, for recording the mark point in image according to trigger action；
Practical mapped point position information acquisition module 44, for being obtained and being marked according to the mapping relations of image and actual position
The corresponding practical mapping dot position information of note point.Specifically, which includes: that coordinate obtains
Take and take pictures submodule, for obtaining the real-time requiring coordinate information of the aircraft, the picture pick-up device of the aircraft
Posture information, the picture pick-up device and positioning device relative position information and captured image, wherein positioning dress
Set the real-time requiring coordinate information for confirming the aircraft；Practical mapping dot position information generates submodule, is used for
According to the relative position information of the real-time requiring coordinate information, posture information, the picture pick-up device and positioning device and
Described image generates the practical mapping dot position information.
Optionally, in some embodiments of the invention, user can also input remote control distributor instruction by display device；It should
Plotting board based on aircraft, further includes: remote control distributor command reception module, for receiving user according to image display interfaces
The remote control distributor of input instructs；Flight control modules, for instructing control aircraft flight according to remote control distributor.
The plotting board based on aircraft of the embodiment of the present invention is able to solve relative to manually mapping is got ready and gets people ready
Member walks the problem lower in the safety of complicated boundary of land block；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process,
The efficiency for improving mapping can be realized and map out corresponding high-precision course line in a short time.
The embodiment of the present invention also provides a kind of mapping method based on aircraft, can be applied in above-mentioned aircraft 1, such as schemes
Shown in 6, which includes:
Step S61: by at least picture pick-up device being arranged on aircraft shoot aircraft flight when image be sent to
Controller；
Step S62: the control instruction that controller is sent is received, control instruction is the triggering inputted according to user in controller
It operates and generates；
Step S63: taking pictures according to control instruction, and by the information taken pictures and the real-time requiring coordinate of aircraft
Information is sent to controller.
Optionally, in some embodiments of the invention, the information taken pictures includes: an at least picture pick-up device
Posture information and described image.The information preferably, vertical angle that the posture information is an at least picture pick-up device is taken pictures,
Described image is the image of vertically taking pictures of at least picture pick-up device shooting.In a preferred embodiment, it shoots described vertical
Take pictures image picture pick-up device and RTK antenna installation alternate position spike by software algorithm compensate, such as available RTK antenna pacify
The location information pretended for one reference point A of unmanned plane obtains location information of the picture pick-up device relative to reference point A, from
And picture pick-up device and the alternate position spike of RTK can be calculated, believe so as to calculate the relative position of picture pick-up device and RTK antenna
Breath.
The mapping method based on aircraft of the embodiment of the present invention is able to solve relative to manually mapping is got ready and gets people ready
Member walks the problem lower in the safety of complicated boundary of land block；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process,
The efficiency for improving mapping can be realized and map out corresponding high-precision course line in a short time.
The embodiment of the present invention also provides a kind of plotting board based on aircraft, as shown in fig. 7, the plotting board mainly wraps
It includes:
Image sending module 61, when aircraft flight for shooting at least picture pick-up device being arranged on aircraft
Image is sent to controller；
Control instruction receiving module 62, for receive controller transmission control instruction, the control instruction be according to
Family is generated in the trigger action that the controller inputs；
Mapping information sending module 63, for being taken pictures according to the control instruction, and by the information taken pictures and described
The real-time requiring coordinate information of aircraft is sent to the controller.
Optionally, in some embodiments of the invention, the information taken pictures includes: an at least picture pick-up device
The relative position information and described image of posture information, the picture pick-up device and positioning device, wherein the positioning device is used for
Confirm the real-time requiring coordinate information of the aircraft.Preferably, the posture information is an at least picture pick-up device
Vertical angle take pictures information, described image is the image of vertically taking pictures of at least picture pick-up device shooting.It is preferably real one
It applies in example, the positioning device is RTK antenna, calculates the camera shooting according to the position of the picture pick-up device and the installation of RTK antenna
The relative position information of equipment and RTK antenna.
The plotting board based on aircraft of the embodiment of the present invention is able to solve relative to manually mapping is got ready and gets people ready
Member walks the problem lower in the safety of complicated boundary of land block；It is surveyed and drawn relative to traditional unmanned plane, simplifies mapping control process,
The efficiency for improving mapping can be realized and map out corresponding high-precision course line in a short time.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (21)
1. a kind of mapping method based on aircraft characterized by comprising
Image when aircraft flight is obtained, shows the reference marker and described image for alignment in image display interfaces；
Receive the trigger action of user's input；
The mark point in described image is recorded according to the trigger action；
Practical mapping dot position information corresponding with the mark point is obtained according to the mapping relations of image and actual position.
2. the mapping method according to claim 1 based on aircraft, which is characterized in that further include:
User is received to be instructed according to the remote control distributor that described image display interface inputs；
The aircraft flight is controlled according to remote control distributor instruction.
3. the mapping method according to claim 1 or 2 based on aircraft, which is characterized in that described according to image and true
The mapping relations of real position obtain practical mapping dot position information corresponding with mark point, comprising:
Obtain the posture information, described of the real-time requiring coordinate information of the aircraft, the picture pick-up device of the aircraft
The relative position information and captured image of picture pick-up device and positioning device, wherein the positioning device is described for confirming
The real-time requiring coordinate information of aircraft；
Believed according to the relative position of the real-time requiring coordinate information, posture information, the picture pick-up device and positioning device
Breath and described image generate the practical mapping dot position information.
4. the mapping method according to claim 3 based on aircraft, which is characterized in that the posture information is described takes the photograph
As the vertical angle of equipment is taken pictures information, described image is the image of vertically taking pictures of picture pick-up device shooting.
5. the mapping method according to claim 1 based on aircraft, which is characterized in that described image display interface packet
It includes: first person main perspective shooting picture, vertical angle of view shooting picture and map picture.
6. the mapping method according to claim 1 based on aircraft, which is characterized in that the reference mark for alignment
Note includes at least: at least one of cross shape, arrowhead form.
7. a kind of mapping method based on aircraft characterized by comprising
By at least picture pick-up device being arranged on the aircraft shoot the aircraft flight when image be sent to control
Device；
The control instruction that the controller is sent is received, the control instruction is the triggering inputted according to user in the controller
It operates and generates；
It is taken pictures according to the control instruction, and by the information taken pictures and the real-time requiring coordinate information of the aircraft
It is sent to the controller.
8. the mapping method according to claim 7 based on aircraft, which is characterized in that the information taken pictures includes:
The relative position information and described image of at least posture information of a picture pick-up device, the picture pick-up device and positioning device,
Wherein, the positioning device is used to confirm the real-time requiring coordinate information of the aircraft.
9. the mapping method according to claim 8 based on aircraft, which is characterized in that the posture information be it is described extremely
The vertical angle of a few picture pick-up device is taken pictures information, and described image is the figure of vertically taking pictures of at least picture pick-up device shooting
Picture.
10. the mapping method according to claim 8 based on aircraft, which is characterized in that the positioning device is RTK days
Line is believed according to the relative position that the position of the picture pick-up device and the installation of RTK antenna calculates the picture pick-up device and RTK antenna
Breath.
11. a kind of plotting board based on aircraft characterized by comprising
Display module shows the reference marker for alignment in image display interfaces for obtaining image when aircraft flight
And described image；
Control instruction receiving module, for receiving the trigger action of user's input；
Mark point logging modle, for recording the mark point in described image according to the trigger action；
Practical mapped point position information acquisition module, for being obtained and the mark according to the mapping relations of image and actual position
The corresponding practical mapping dot position information of point.
12. the plotting board according to claim 11 based on aircraft, which is characterized in that further include:
Remote control distributor command reception module is instructed for receiving user according to the remote control distributor that described image display interface inputs；
Flight control modules, for controlling the aircraft flight according to remote control distributor instruction.
13. the plotting board according to claim 11 or 12 based on aircraft, which is characterized in that the practical mapped point
Position information acquisition module includes:
Coordinate obtains and submodule of taking pictures, for obtaining real-time requiring coordinate information, the aircraft of the aircraft
The posture information of picture pick-up device, the relative position information of the picture pick-up device and positioning device and captured image, wherein
The positioning device is used to confirm the real-time requiring coordinate information of the aircraft；
Practical mapping dot position information generates submodule, for according to the real-time requiring coordinate information, posture information, institute
The relative position information and described image for stating picture pick-up device and positioning device generate the practical mapping dot position information.
14. the plotting board according to claim 13 based on aircraft, which is characterized in that the posture information is described
The vertical angle of picture pick-up device is taken pictures information, and described image is the image of vertically taking pictures of picture pick-up device shooting.
15. the plotting board according to claim 11 based on aircraft, which is characterized in that described image display interface packet
It includes: first person main perspective shooting picture, vertical angle of view shooting picture and map picture.
16. the plotting board according to claim 11 based on aircraft, which is characterized in that the reference for alignment
Label includes at least: at least one of cross shape, arrowhead form.
17. a kind of plotting board based on aircraft characterized by comprising
Image sending module, when the aircraft flight for shooting at least picture pick-up device being arranged on the aircraft
Image be sent to controller；
Control instruction receiving module, for receiving the control instruction of controller transmission, the control instruction is according to user in institute
It states the trigger action of controller input and generates；
Mapping information sending module, for being taken pictures according to the control instruction, and by the information taken pictures and the aircraft
Real-time requiring coordinate information be sent to the controller.
18. the plotting board according to claim 17 based on aircraft, which is characterized in that the packet taken pictures
It includes: the relative position information and the figure of at least posture information of a picture pick-up device, the picture pick-up device and positioning device
Picture, wherein the positioning device is used to confirm the real-time requiring coordinate information of the aircraft.
19. the plotting board according to claim 18 based on aircraft, which is characterized in that the posture information is described
The vertical angle of an at least picture pick-up device is taken pictures information, and described image is the figure of vertically taking pictures of at least picture pick-up device shooting
Picture.
20. the plotting board according to claim 18 based on aircraft, which is characterized in that the positioning device is RTK
Antenna is believed according to the relative position that the position of the picture pick-up device and the installation of RTK antenna calculates the picture pick-up device and RTK antenna
Breath.
21. a kind of aircraft surveys and draws control system, which is characterized in that the aircraft mapping control system includes: aircraft, control
Device processed and display device, the aircraft include: flight control modules and an at least picture pick-up device,
The picture pick-up device is used to shoot the image when aircraft flight；
The display device shows the reference marker and described image for alignment；
The controller is used to receive the trigger action of user's input, records the mark in described image according to the trigger action
Point, and the control instruction generated according to the trigger action is sent to the flight control modules；
The flight control modules control the aircraft according to the control instruction and take pictures, and the information and described of taking pictures
The real-time requiring coordinate information of aircraft is sent to the display device；
The display device is taken pictures information and real-time requiring coordinate information, the picture pick-up device and positioning device according to
Relative position information generate and corresponding with mark point practical survey and draw a dot position information.
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| CN201811038326.8A CN109308077A (en) | 2018-09-06 | 2018-09-06 | A kind of mapping method based on aircraft, apparatus and system |
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