CN113701718A - Surveying and mapping map data acquisition method, system, storage medium and intelligent terminal - Google Patents
Surveying and mapping map data acquisition method, system, storage medium and intelligent terminal Download PDFInfo
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Abstract
The application relates to a surveying and mapping map data acquisition method, a surveying and mapping map data acquisition system, a storage medium and an intelligent terminal, and relates to the surveying and mapping field, wherein the surveying and mapping map data acquisition method comprises the steps of controlling an unmanned aerial vehicle to fly towards a direction far away from a measured building if current distance detection information is less than detail distance information; if the current distance detection information is larger than the detail distance information, carrying out primary image acquisition and storing; if the current distance detection information is equal to the detail distance information, acquiring a detail image, and searching current floor information from a building height database according to the current height detection information; controlling the unmanned vehicle to synchronously acquire detailed images according to the current floor information; adjusting the height of a camera on the unmanned vehicle according to the height adjusting information; and controlling the unmanned vehicle to synchronously move according to the current moving position information, and acquiring the detail image. This application has the ability that improves the on-the-spot collection, and labour saving and time saving, effect more intelligent.
Description
Technical Field
The present application relates to the field of surveying and mapping, and in particular, to a method, a system, a storage medium, and an intelligent terminal for collecting data of a survey and mapping map.
Background
Survey and drawing is carried out to actual place through unmanned aerial vehicle, unmanned ship, unmanned car to convert data into three-dimensional model, use for people. The three-dimensional model has intuition and integrity, can reflect complex building structures and building space, position and texture information, and is popular among people.
In the related technology, for example, chinese patent with publication number CN107702692B, an unmanned aerial vehicle set mapping method based on an AGV matrix mainly uses a mapping unmanned aerial vehicle set as an AGV matrix, and the central unmanned aerial vehicle controls an auxiliary unmanned aerial vehicle to perform multiple mapping in a set AGV matrix; the central unmanned aerial vehicle transmits the integrated surveying and mapping data to the remote client through the main controller, and the surveying and mapping unmanned aerial vehicle unit obtains the whole surveying and mapping map after measuring and integrating for multiple times. The method comprises the steps of setting an AGV matrix in the whole measurement range into a coordinate system with a central unmanned aerial vehicle as a central point, and dividing the coordinate system into four coordinate blocks according to four auxiliary unmanned aerial vehicles; then, setting the rotation points at intervals of 10 centimeters by a calculation module of the main control mechanism, and establishing a virtual coordinate matrix; the auxiliary unmanned aerial vehicle defines landmark values of each group and rows and columns to carry out mapping respectively through the central unmanned aerial vehicle and a virtual coordinate matrix made by manual operation; the efficiency of survey and drawing has effectively been improved.
To the correlation technique among the above-mentioned, the inventor thinks, because the influence of unmanned aerial vehicle size makes unmanned aerial vehicle can't fly into to the tiny department of building to lead to still needing the staff to enter into the building, thereby carry out the details collection on scene, waste time and energy, there is improved space in addition.
Disclosure of Invention
In order to improve the capacity of on-site collection, save time and labor and be more intelligent, the application provides a surveying and mapping map data collection method.
In a first aspect, the present application provides a method for collecting mapping map data, which adopts the following technical scheme:
a mapping map data collection method, comprising:
acquiring current height detection information of a current unmanned aerial vehicle, current distance detection information from the current unmanned aerial vehicle to a detected building and current moving position information of the unmanned aerial vehicle;
judging whether the current distance detection information is larger than the preset detail distance information or not;
if the current distance detection information is smaller than the detail distance information, controlling the unmanned aerial vehicle to fly towards the direction far away from the detected building;
if the current distance detection information is larger than the detail distance information, carrying out primary image acquisition and storing;
if the current distance detection information is equal to the detail distance information, acquiring a detail image, and searching current floor information from a preset building height database according to the current height detection information;
controlling an unmanned vehicle corresponding to the current floor information to synchronously acquire detailed images according to the current floor information;
searching out height adjusting information from a preset adjusting database according to the current height detection information and the current floor information, and adjusting the height of a camera preset on the unmanned vehicle according to the height adjusting information;
and controlling the unmanned vehicle to synchronously move according to the current moving position information, and acquiring the detail image.
Through adopting above-mentioned technical scheme, judge through the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition and be in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicle, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving, it is more intelligent.
Optionally, the method for the unmanned vehicle to move synchronously along with the unmanned vehicle on the same floor includes:
acquiring current positioning information of the unmanned vehicle in the current floor information;
searching out detection area information from a preset map database according to the current mobile position information;
activating the unmanned vehicle corresponding to the current positioning information falling into the detection area information, and synchronously moving and acquiring along with the unmanned vehicle;
waiting the unmanned vehicle corresponding to the current positioning information which does not fall into the detection area information;
when the information of the detection area is switched, the unmanned vehicles corresponding to the synchronous switching are followed and synchronously moved and collected.
Through adopting above-mentioned technical scheme, through fixing a position unmanned vehicle to know the position that unmanned vehicle is located current floor, and know through the moving direction to unmanned aerial vehicle, thereby know the position that is about to arrive, and control unmanned vehicle in the corresponding region past code before, thereby realize the switching to different regions.
Optionally, when the detection area information of the same layer is switched, the method for acquiring and switching the unmanned vehicle includes:
connecting coordinate points corresponding to the continuously acquired current moving position information in a preset interval time to acquire moving direction information;
searching first area information from a map database according to the movement direction information and the current detection area information;
activating the unmanned vehicle corresponding to the current positioning information falling into the first area information, driving the unmanned vehicle to drive to the joint of the detection area information and the first area information, and stopping at the joint;
judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the connection position of the detection area information and the first area information;
if the unmanned vehicle does not arrive, the unmanned vehicle positioned at the connection position does not move;
if the unmanned vehicle arrives, the unmanned vehicle located at the joint is switched to, and the unmanned vehicle synchronously move and acquire.
By adopting the technical scheme, when the unmanned vehicles are switched in the same floor, the unmanned vehicles are switched more stably in order to improve the image acquisition capacity during switching, so that the unmanned vehicles are switched at the joint, and the images are acquired more stably.
Optionally, when the unmanned aerial vehicle switches between different floors, the switching method of the unmanned aerial vehicle includes:
connecting coordinate points corresponding to the continuously acquired current height detection information in a preset interval time to acquire lifting direction information;
searching second area information from a map database according to the lifting direction information and the current positioning information;
activating the unmanned vehicle corresponding to the current positioning information falling into the second area information, driving the unmanned vehicle to run towards the vertical connection position of the positioning information and the second area information, and stopping at the vertical connection position;
judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the vertical connection position of the positioning information and the second area information;
if the unmanned vehicle does not arrive, the unmanned vehicle positioned at the vertical connection position does not move;
if the unmanned vehicle arrives, the unmanned vehicle located at the vertical connection position is switched to, and the unmanned vehicle move synchronously and acquire.
Through adopting above-mentioned technical scheme, when unmanned aerial vehicle switches at the floor of difference, the unmanned car that is located different floors also can switch thereupon to know through the position to the unmanned car that is gathering at present, the condition of deuterogamy floor and unmanned aerial vehicle's motion trend, thereby the control is waited to gather the unmanned car of image and is gone to the position that corresponds in advance, and better transition, the practicality is strong.
Optionally, the unmanned aerial vehicle flies between different floors, and the method for switching the unmanned aerial vehicle between the floors includes:
judging whether the current height detection information is larger than the current floor critical height information in the current floor information;
if the current height detection information is larger than the current floor critical height information, judging whether the current distance detection information is larger than preset switching distance information or not;
and if the current distance detection information is less than or equal to the switching distance information, controlling the unmanned aerial vehicle to stop at the current height and fly to one side far away from the detected building until the current distance detection information is greater than the switching distance information, and restoring the unmanned aerial vehicle to move up and down.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle is when carrying out different floors because the interlayer between the different floors is different to there may be other buildings, consequently need keep switching the distance, consequently when carrying out the floor and switching, switch to switching the distance earlier, carry out the switching of floor again, improve flight safety.
Optionally, the method for rotating the camera on the unmanned vehicle includes:
searching a rotation rule of the camera from a preset detection range database according to the current positioning information and the height adjusting information;
and controlling the camera on the unmanned vehicle to rotate according to the rotation rule.
Through adopting above-mentioned technical scheme, detect through the camera on the unmanned car to gather the image of building, and through rotating the camera, gather and acquire the image around, the practicality is strong.
Optionally, the method for acquiring the detection range database includes:
acquiring current circumferential rotation angle information and current inclination rotation information of the camera;
adjusting current circumferential rotation angle information and current inclination rotation information according to the positioning information, and sequentially outputting detection images in different angle directions to construct an acquisition image library;
correcting the height adjustment information on the same positioning information, and adjusting the current circumferential rotation angle information and the current inclination rotation information to increase the detection image to an acquisition image library;
sequentially inputting the detection images in the collected image library into a preset identification model and outputting the identification images;
screening out identification object information from the identification image;
judging whether the identification object information is consistent with the definition of a preset identification model or not;
and if the difference is not consistent, removing the current circumferential rotation angle information and the current inclination rotation information corresponding to the identification image in the collected image library until the detection range database is perfected.
Through adopting above-mentioned technical scheme, through rotating circumference to also carry out rotation regulation to the gradient, thereby judge the definition of the image of discerning, with the clear image that obtains, the practicality is strong.
In a second aspect, the present application provides a mapping map data acquisition system, which adopts the following technical solutions:
a mapping map data acquisition system, comprising:
the acquisition module is used for acquiring current height detection information of the current unmanned aerial vehicle, current distance detection information from the current unmanned aerial vehicle to a detected building and current moving position information of the unmanned aerial vehicle;
the judging module is used for judging whether the current distance detection information is larger than the preset detailed distance information;
the processing module is connected with the acquisition module and the judgment module and is used for processing and storing the information;
if the current distance detection information is smaller than the detail distance information, the processing module controls the unmanned aerial vehicle to fly towards the direction far away from the detected building;
if the current distance detection information is larger than the detail distance information, the processing module performs preliminary image acquisition and stores the preliminary image acquisition;
if the current distance detection information is equal to the detail distance information, the processing module acquires detail images and finds out current floor information from a preset building height database according to the current height detection information;
the processing module controls the unmanned vehicle corresponding to the current floor information to synchronously acquire the detail image according to the current floor information;
the processing module searches out height adjusting information from a preset adjusting database according to the current height detection information and the current floor information, and adjusts the height of a camera preset on the unmanned vehicle according to the height adjusting information;
and the processing module controls the unmanned vehicle to synchronously move according to the current moving position information and acquires the detail image.
Through adopting above-mentioned technical scheme, judge through the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition and be in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicle, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving, it is more intelligent.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
an intelligent terminal comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and perform any of the methods described above.
Through adopting above-mentioned technical scheme, judge through the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition and be in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicle, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving, it is more intelligent.
In a fourth aspect, the present application provides a computer storage medium, which can store corresponding programs, has the capability of facilitating on-site acquisition, is time-saving and labor-saving, and is more intelligent, and adopts the following technical scheme:
a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform any of the methods described above.
Through adopting above-mentioned technical scheme, judge through the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition and be in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicle, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving, it is more intelligent.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the unmanned aerial vehicle and the unmanned vehicle synchronously acquire, so that the field acquisition capability is improved, and the unmanned aerial vehicle is time-saving, labor-saving and more intelligent;
2. when the unmanned vehicles are collected between floors and adjacent areas, the unmanned vehicles are more stable, and the collection errors are reduced.
Drawings
FIG. 1 is a flow chart of a method of survey map data acquisition.
Fig. 2 is a flowchart of a method for synchronously moving an unmanned vehicle following the unmanned vehicle on the same floor.
Fig. 3 is a flowchart of an acquisition switching method of an unmanned vehicle.
Fig. 4 is a flowchart of a switching method of the unmanned vehicle.
Fig. 5 is a flow chart of a method for switching between floors by a drone.
Fig. 6 is a flowchart of a detection range database acquisition method.
Fig. 7 is a flowchart of a detection range database acquisition method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-7 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1, the embodiment of the application discloses a surveying and mapping map data acquisition method, wherein an unmanned aerial vehicle is arranged on the periphery of a building to fly and acquire three-dimensional data, an unmanned vehicle is arranged on each floor in the building, and areas corresponding to the unmanned vehicles on each floor are different and are set by workers according to actual conditions. Synchronous collection is carried out through unmanned vehicles and unmanned aerial vehicles to the three-dimensional data of building carries out further collection.
The method for collecting mapping map data comprises the following steps:
step 100: the current height detection information of the current unmanned aerial vehicle, the current distance detection information from the current unmanned aerial vehicle to the detected building and the current moving position information of the unmanned aerial vehicle are obtained.
Install altitude sensor on the unmanned aerial vehicle, thereby detect the height of unmanned aerial vehicle current flight through altitude sensor to output height detection information.
Install distance sensor on the unmanned aerial vehicle, detect unmanned aerial vehicle to the distance between the building through distance sensor to output distance detection information, and the orientation of the camera on distance sensor and the unmanned aerial vehicle is unanimous.
Install gps orientation module on the unmanned aerial vehicle, thereby know unmanned aerial vehicle's position through gps orientation module, and behind the shift position, the position that gps orientation module corresponds will change, consequently updates the position and output shift position information, has the direction and the distance of removal in the shift position information.
Step 101: and judging whether the current distance detection information is larger than the preset detail distance information.
And judging whether the distance corresponding to the current distance detection information is larger than the distance corresponding to the detail distance information. The detailed distance information is preset distance information, and can be set by a worker according to actual conditions, which is not described herein. Through judging the distance between unmanned aerial vehicle and the building to preliminary image acquisition and detail image acquisition are switched, thereby go the focus distance of control unmanned aerial vehicle last camera.
Step 1010: and if the current distance detection information is smaller than the detail distance information, controlling the unmanned aerial vehicle to fly towards the direction far away from the detected building.
If the distance that present distance detection information corresponds is less than the distance that detail distance information corresponds, it is too close to show the distance, consequently control unmanned aerial vehicle to keeping away from the direction flight of surveyed building to pull open the distance between building and the unmanned aerial vehicle, in order to guarantee the security of flight.
Step 1011: and if the current distance detection information is larger than the detail distance information, carrying out primary image acquisition and storing.
If the distance corresponding to the current distance detection information is greater than the distance corresponding to the detail distance information, the fact that the distance between the unmanned aerial vehicle and the building is too far at the moment is represented, and therefore preliminary image acquisition can be conducted on the building, namely, the appearance is acquired and stored. After finishing collecting, can be controlled unmanned aerial vehicle by the staff and be close to the building.
Step 1012: and if the current distance detection information is equal to the detail distance information, acquiring a detail image, and searching current floor information from a preset building height database according to the current height detection information.
And if the distance corresponding to the current distance detection information is equal to the distance of the detail distance information, the distance at the moment can be used for acquiring the detail image. And searching current floor information from the building height database by knowing the current height detection information. Wherein, the building height database is predetermined database, sets up through the staff to through the understanding to height detection information, can understand the floor, floor information promptly.
Step 102: and controlling the unmanned vehicle corresponding to the current floor information to synchronously acquire the detail image according to the current floor information.
Every floor all has the unmanned vehicle of difference to be responsible for gathering, consequently to the understanding of current floor information to carry out the collection of detail image in step with the unmanned vehicle that control and current floor information are corresponding, thereby cooperate the collection image with unmanned aerial vehicle.
Step 103: and searching out height adjusting information from a preset adjusting database according to the current height detection information and the current floor information, and adjusting the height of a camera preset on the unmanned vehicle according to the height adjusting information.
The camera is installed on the unmanned vehicle, the building is subjected to image acquisition through the camera, the camera on the unmanned vehicle is subjected to lifting adjustment, and the electronic push rod is installed on the unmanned vehicle so as to adjust the lifting of the camera.
And searching out height adjusting information from an adjusting database according to the height corresponding to the current height detection information and the current floor information, wherein the adjusting database is a preset database, and the height adjusting information is the height required to be adjusted by the current unmanned vehicle.
By knowing the flying height of the unmanned aerial vehicle, after the current floor information is obtained, the height of the current floor is obtained in the floor information. Therefore, the distance difference between the unmanned aerial vehicle and the current floor can be known, and the distance difference can be used for adjusting the height information, so that the distance difference can be used for adjusting the height of the camera on the unmanned aerial vehicle.
Step 104: and controlling the unmanned vehicle to synchronously move according to the current moving position information, and acquiring the detail image.
According to the current mobile position information of the unmanned aerial vehicle, the mobile situation of the unmanned aerial vehicle is controlled, synchronous movement is achieved, and detail image acquisition is carried out.
Referring to fig. 2, when the unmanned vehicles are on the same floor, the unmanned vehicles are followed, and the synchronous moving method comprises the following steps:
step 200: and acquiring the current positioning information of the unmanned vehicle in the current floor information.
The unmanned vehicle is provided with a positioning module, each floor is provided with at least 2 base stations, and the positioning modules and the base stations mutually exchange information, so that the position of the unmanned vehicle in the current floor is determined, and positioning information is output. The frequencies of the base stations between adjacent floors are all different and thus used for differentiation.
Step 201: and searching out the detection area information from a preset map database according to the current mobile position information.
The unmanned aerial vehicle detection system comprises a map database, a detection area information acquisition module, a data acquisition module and a data acquisition module, wherein the map database is a preset database, the map database is provided with a plane map of each floor of a building, so that the detection area information is searched from the map database by knowing the current mobile position information of the unmanned aerial vehicle, the detection area information is a corresponding area for which the unmanned aerial vehicle is responsible, and each unmanned aerial vehicle is respectively responsible for image acquisition of different areas as the unmanned aerial vehicle in each floor is partitioned.
Step 202: and activating the unmanned vehicle corresponding to the current positioning information falling into the detection area information, and synchronously moving and acquiring along with the unmanned vehicle.
After the detection area information is known, the unmanned vehicle corresponding to the current positioning information falling into the detection area information is activated, and the unmanned vehicle not falling into the detection area information is not activated. And the activated unmanned vehicle is enabled to synchronously move along with the unmanned aerial vehicle to acquire images.
Step 203: and waiting the unmanned vehicle corresponding to the current positioning information which does not fall into the detection area information.
And all the unmanned vehicles corresponding to the current positioning information which does not fall into the detection area information are in standby.
Step 204: when the information of the detection area is switched, the unmanned vehicles corresponding to the synchronous switching are followed and synchronously moved and collected.
When the detection area information is switched, namely the unmanned vehicle in the current detection area information reaches the limit in the range, the unmanned vehicle is switched, even if the unmanned vehicle in the current detection area information is in a standby state, the unmanned vehicle in the other detection area information corresponding to the unmanned vehicle is in an activated following state, and the activated unmanned vehicle follows and moves synchronously for collection.
Referring to fig. 3, in the unmanned vehicles on the same floor, when the detection area information on the same floor is switched, the method for acquiring and switching the unmanned vehicles includes the following steps:
step 300: and connecting the coordinate points corresponding to the continuously acquired current moving position information in the preset interval time to acquire the moving direction information.
The interval time is a preset time, and is set by a worker according to an actual situation, which is not described herein.
In the interval, the coordinate point that current shift position information that will acquire in succession corresponds to connect gradually the coordinate point, the direction after the connection just is direction of motion information, thereby knows unmanned aerial vehicle's direction of motion.
Step 301: and searching the first area information from the map database according to the motion direction information and the current detection area information.
And searching first area information from a map database according to the movement direction information of the unmanned aerial vehicle and the current detection area information, wherein the first area information is an area which the unmanned aerial vehicle in the same layer can reach. Therefore, after the information of the detection area of the unmanned vehicle which is already working at present and the information of the movement direction are known, the unmanned vehicle which is about to reach the area can be prepared for collection.
Step 302: and activating the unmanned vehicle corresponding to the current positioning information falling into the first area information, driving the unmanned vehicle to run towards the joint of the detection area information and the first area information, and stopping at the joint.
And activating the unmanned vehicle corresponding to the current positioning information falling into the first area information in advance, driving the unmanned vehicle to run to the joint of the detection area information and the first area information, and stopping at the joint for standby.
Step 303: and judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the connection position of the detection area information and the first area information.
And judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the connection part of the detection area information and the first area information, thereby controlling whether the two unmanned vehicles need to be switched in work.
Step 3030: if not, the unmanned vehicle at the joint does not move.
If the unmanned vehicle corresponding to the current positioning information in the detection area information does not reach the connection position between the detection area information and the first area information, the waiting unmanned vehicle positioned at the connection position does not move.
Step 3031: if the unmanned vehicle arrives, the unmanned vehicle located at the joint is switched to, and the unmanned vehicle synchronously move and acquire.
If the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the joint of the detection area information and the first area information, the unmanned vehicle waiting at the joint is switched to start to collect and moves synchronously with the unmanned vehicle. And the unmanned vehicle just reaching the joint stops moving and collecting.
Referring to fig. 4, when the unmanned aerial vehicle is switched between different floors, the unmanned vehicle switching method includes the following steps:
step 400: and connecting the coordinate points corresponding to the continuously acquired current height detection information in the preset interval time to acquire the lifting direction information.
The interval time is a preset time, and is set by a worker according to an actual situation, which is not described herein.
In the interval, the coordinate point that the current height detection information that will acquire in succession corresponds to connect gradually the coordinate point, the direction after the connection just is lift direction information, thereby knows unmanned aerial vehicle's the lift condition.
Step 401: and searching out second area information from the map database according to the lifting direction information and the current positioning information.
And searching second area information from the map database according to the lifting direction information and the current positioning information of the unmanned aerial vehicle, wherein the second area information is the area which is about to arrive by the unmanned aerial vehicle and is located in the same plane and is in different layers. Therefore, after the information of the detection area of the unmanned vehicle which is already working at present and the information of the lifting direction are known, the unmanned vehicle which is about to reach the area can be prepared for collection.
Step 402: and activating the unmanned vehicle corresponding to the current positioning information falling into the second area information, driving the unmanned vehicle to run towards the vertical connection position of the positioning information and the second area information, and stopping at the vertical connection position.
And activating the unmanned vehicle corresponding to the current positioning information falling into the second area information in advance, driving the unmanned vehicle to run to the vertical connection position of the positioning information and the second area information, and stopping at the vertical connection position for standby.
Step 403: and judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the vertical connection position of the positioning information and the second area information.
And judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the vertical connection position of the positioning information and the second area information, thereby controlling whether the two unmanned vehicles need to be switched in work.
Step 4030: if not, the unmanned vehicle positioned at the vertical connection position does not move.
If the unmanned vehicle corresponding to the current positioning information in the detection area information does not reach the vertical connection position of the positioning information and the second area information, the unmanned vehicle positioned at the vertical connection position does not move.
Step 4031: if the unmanned vehicle arrives, the unmanned vehicle located at the vertical connection position is switched to, and the unmanned vehicle move synchronously and acquire.
If the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the vertical connection position of the positioning information and the second area information, the unmanned vehicle positioned at the vertical connection position starts to collect and moves synchronously with the unmanned vehicle.
Referring to fig. 5, when the unmanned aerial vehicle flies between different floors, the unmanned aerial vehicle flies between the floors, and the method for switching the heights of the unmanned aerial vehicle during flying comprises the following steps:
step 500: and judging whether the current height detection information is larger than the current floor critical height information in the current floor information.
The floor critical height information is preset information and is set by a worker according to actual conditions.
And judging whether the current height detection information is greater than the current floor critical height information in the current floor information or not, so as to judge whether the current flying height of the unmanned aerial vehicle reaches the height of the floor required to be switched in the current floor or not, and further adjust the flying of the unmanned aerial vehicle.
Step 501: and if the current height detection information is larger than the current floor critical height information, judging whether the current distance detection information is larger than preset switching distance information.
And if the current height detection information is larger than the current floor critical height information, judging whether the current distance detection information of the unmanned aerial vehicle is larger than the switching distance information. The switching distance information is set by the staff according to the actual situation, and is not described herein. Keeping unmanned aerial vehicle at safe interval can improve unmanned aerial vehicle's flight stability.
Step 502: and if the current distance detection information is less than or equal to the switching distance information, controlling the unmanned aerial vehicle to stop at the current height and fly to one side far away from the detected building until the current distance detection information is greater than the switching distance information, and restoring the unmanned aerial vehicle to move up and down.
Once current distance detection information is less than or equal to when switching distance information, it is too close to the building to show unmanned aerial vehicle, controls unmanned aerial vehicle this moment and stops in current height to one side flight to keeping away from the building that is surveyed, and real-time detection interval, when current distance detection information is greater than switching distance information, unmanned aerial vehicle resumes elevating movement.
Referring to fig. 6, a camera for collection is mounted on the unmanned vehicle, and the method for rotating the camera on the unmanned vehicle includes the following steps:
step 600: and searching the rotation rule of the camera from a preset detection range database according to the current positioning information and the height adjusting information.
After knowing the current positioning information of unmanned vehicle and the height adjustment information of unmanned vehicle, just known the position of current unmanned vehicle and the height that camera need be adjusted on the unmanned vehicle to the rotation rule of camera is looked up from the detection range database.
Step 601: and controlling the camera on the unmanned vehicle to rotate according to the rotation rule.
And controlling the camera on the unmanned vehicle to rotate according to the rotation rule.
Referring to fig. 7, the method for acquiring the detection range database includes the following steps:
step 700: and acquiring the current circumferential rotation angle information and the current inclination rotation information of the camera.
Thereby detect the circumference of camera through angle sensor and output current circumference angle of rotation information, thereby detect the inclination rotation information of output to the orientation angle of camera through angle sensor.
Step 701: and adjusting the current circumferential rotation angle information and the current inclination rotation information according to the positioning information, and sequentially outputting detection images in different angle directions to construct an acquisition image library.
In the data acquisition process, after the unmanned vehicle drives to a coordinate point, positioning information is output, and an image is acquired around by taking the positioning information as an instruction. And when collecting the image, firstly adjusting the current circumferential rotation angle information to finish one-round collection, adjusting the current inclination rotation information once, and after the adjustment, adjusting and collecting the current circumferential rotation angle information of a new round, repeatedly and sequentially collecting and obtaining the detection image to obtain the detection images in different angle directions, and collecting the detection image to construct a collected image library so as to store the detection image.
Step 702: and correcting the height adjustment information on the same positioning information, and adjusting the current circumferential rotation angle information and the current inclination rotation information to increase the detection image to the collected image library.
And correcting the height adjusting information on the same positioning information so as to adjust the height of the camera, and after the height is adjusted, adjusting the current circumferential rotation angle information and the current inclination rotation information again so as to acquire detection images at the same positions with different heights and increase the detection images into an acquired image library.
Step 703: and sequentially inputting the detection images in the collected image library into a preset identification model and outputting the identification images.
After the acquisition is finished, the detection images in the acquisition image library are sequentially input into an identification model, the identification model is a preset model database and is used for detecting and identifying the object in the detection image, and therefore the identification image is output.
Step 704: and screening out identification object information from the identification image.
And identifying data of different objects in the model, and screening identification object information from the identification image so as to judge the condition of the object.
Step 705: and judging whether the identification object information is consistent with the definition of the preset identification model.
The definition of the identification object information and the definition of the identification model are judged to judge whether the images at different positions, different heights and different angles are clear or not.
Step 706: and if the difference is not consistent, removing the current circumferential rotation angle information and the current inclination rotation information corresponding to the identification image in the collected image library until the detection range database is perfected.
Once the definition of the identification object information is inconsistent with that of the identification model, the position, the height and the position under the angle at the moment are not clear, and the current circumferential rotation angle information and the current inclination rotation information corresponding to the identification image in the collection gallery are removed.
Once the definition of the identification object information is consistent with that of the identification model, the definition of the position, the height and the position under the angle at the moment is represented, and the current circumferential rotation angle information and the current inclination rotation information corresponding to the identification image in the collection gallery are stored until all the images are processed, so that the detection range database is perfected.
Based on the same inventive concept, the embodiment of the invention provides a mapping map data acquisition system, which comprises:
the acquisition module is used for acquiring current height detection information of the current unmanned aerial vehicle, current distance detection information from the current unmanned aerial vehicle to a detected building and current moving position information of the unmanned aerial vehicle;
the judging module is used for judging whether the current distance detection information is larger than the preset detailed distance information;
the processing module is connected with the acquisition module and the judgment module and is used for processing and storing the information;
if the current distance detection information is smaller than the detail distance information, the processing module controls the unmanned aerial vehicle to fly towards the direction far away from the detected building;
if the current distance detection information is larger than the detail distance information, the processing module performs preliminary image acquisition and stores the preliminary image acquisition;
if the current distance detection information is equal to the detail distance information, the processing module acquires detail images and finds out current floor information from a preset building height database according to the current height detection information;
the processing module controls the unmanned vehicle corresponding to the current floor information to synchronously acquire the detail image according to the current floor information;
the processing module searches out height adjusting information from a preset adjusting database according to the current height detection information and the current floor information, and adjusts the height of a camera preset on the unmanned vehicle according to the height adjusting information;
and the processing module controls the unmanned vehicle to synchronously move according to the current moving position information and acquires the detail image.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
Embodiments of the present invention provide a computer-readable storage medium storing a computer program that can be loaded by a processor and execute a method for surveying and mapping map data acquisition.
Computer storage media include, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Based on the same inventive concept, the embodiment of the invention provides an intelligent terminal, which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute a mapping map data acquisition method.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (10)
1. A method of mapping map data acquisition, comprising:
acquiring current height detection information of a current unmanned aerial vehicle, current distance detection information from the current unmanned aerial vehicle to a detected building and current moving position information of the unmanned aerial vehicle;
judging whether the current distance detection information is larger than the preset detail distance information or not;
if the current distance detection information is smaller than the detail distance information, controlling the unmanned aerial vehicle to fly towards the direction far away from the detected building;
if the current distance detection information is larger than the detail distance information, carrying out primary image acquisition and storing;
if the current distance detection information is equal to the detail distance information, acquiring a detail image, and searching current floor information from a preset building height database according to the current height detection information;
controlling an unmanned vehicle corresponding to the current floor information to synchronously acquire detailed images according to the current floor information;
searching out height adjusting information from a preset adjusting database according to the current height detection information and the current floor information, and adjusting the height of a camera preset on the unmanned vehicle according to the height adjusting information;
and controlling the unmanned vehicle to synchronously move according to the current moving position information, and acquiring the detail image.
2. A mapping map data collection method according to claim 1, wherein: the method for synchronously moving the unmanned vehicle along with the unmanned vehicle on the same floor comprises the following steps:
acquiring current positioning information of the unmanned vehicle in the current floor information;
searching out detection area information from a preset map database according to the current mobile position information;
activating the unmanned vehicle corresponding to the current positioning information falling into the detection area information, and synchronously moving and acquiring along with the unmanned vehicle;
waiting the unmanned vehicle corresponding to the current positioning information which does not fall into the detection area information;
when the information of the detection area is switched, the unmanned vehicles corresponding to the synchronous switching are followed and synchronously moved and collected.
3. A method of mapping map data collection according to claim 2, wherein: when the information of the detection areas on the same layer is switched, the method for collecting and switching the unmanned vehicles comprises the following steps:
connecting coordinate points corresponding to the continuously acquired current moving position information in a preset interval time to acquire moving direction information;
searching first area information from a map database according to the movement direction information and the current detection area information;
activating the unmanned vehicle corresponding to the current positioning information falling into the first area information, driving the unmanned vehicle to drive to the joint of the detection area information and the first area information, and stopping at the joint;
judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the connection position of the detection area information and the first area information;
if the unmanned vehicle does not arrive, the unmanned vehicle positioned at the connection position does not move;
if the unmanned vehicle arrives, the unmanned vehicle located at the joint is switched to, and the unmanned vehicle synchronously move and acquire.
4. A method of mapping map data collection according to claim 2, wherein: when the unmanned aerial vehicle is switched on different floors, the unmanned vehicle switching method comprises the following steps:
connecting coordinate points corresponding to the continuously acquired current height detection information in a preset interval time to acquire lifting direction information;
searching second area information from a map database according to the lifting direction information and the current positioning information;
activating the unmanned vehicle corresponding to the current positioning information falling into the second area information, driving the unmanned vehicle to run towards the vertical connection position of the positioning information and the second area information, and stopping at the vertical connection position;
judging whether the unmanned vehicle corresponding to the current positioning information in the detection area information reaches the vertical connection position of the positioning information and the second area information;
if the unmanned vehicle does not arrive, the unmanned vehicle positioned at the vertical connection position does not move;
if the unmanned vehicle arrives, the unmanned vehicle located at the vertical connection position is switched to, and the unmanned vehicle move synchronously and acquire.
5. A method of mapping map data collection according to claim 4, wherein: the unmanned aerial vehicle flies among different floors, and the method for switching the unmanned aerial vehicle among the floors comprises the following steps:
judging whether the current height detection information is larger than the current floor critical height information in the current floor information;
if the current height detection information is larger than the current floor critical height information, judging whether the current distance detection information is larger than preset switching distance information or not;
and if the current distance detection information is less than or equal to the switching distance information, controlling the unmanned aerial vehicle to stop at the current height and fly to one side far away from the detected building until the current distance detection information is greater than the switching distance information, and restoring the unmanned aerial vehicle to move up and down.
6. A method of mapping map data collection according to claim 2, wherein: the rotation method of the camera on the unmanned vehicle comprises the following steps:
searching a rotation rule of the camera from a preset detection range database according to the current positioning information and the height adjusting information;
and controlling the camera on the unmanned vehicle to rotate according to the rotation rule.
7. A method of mapping map data collection according to claim 6, wherein: the method for acquiring the detection range database comprises the following steps:
acquiring current circumferential rotation angle information and current inclination rotation information of the camera;
adjusting current circumferential rotation angle information and current inclination rotation information according to the positioning information, and sequentially outputting detection images in different angle directions to construct an acquisition image library;
correcting the height adjustment information on the same positioning information, and adjusting the current circumferential rotation angle information and the current inclination rotation information to increase the detection image to an acquisition image library;
sequentially inputting the detection images in the collected image library into a preset identification model and outputting the identification images;
screening out identification object information from the identification image;
judging whether the identification object information is consistent with the definition of a preset identification model or not;
and if the difference is not consistent, removing the current circumferential rotation angle information and the current inclination rotation information corresponding to the identification image in the collected image library until the detection range database is perfected.
8. A mapping map data acquisition system, comprising:
the acquisition module is used for acquiring current height detection information of the current unmanned aerial vehicle, current distance detection information from the current unmanned aerial vehicle to a detected building and current moving position information of the unmanned aerial vehicle;
the judging module is used for judging whether the current distance detection information is larger than the preset detailed distance information;
the processing module is connected with the acquisition module and the judgment module and is used for processing and storing the information;
if the current distance detection information is smaller than the detail distance information, the processing module controls the unmanned aerial vehicle to fly towards the direction far away from the detected building;
if the current distance detection information is larger than the detail distance information, the processing module performs preliminary image acquisition and stores the preliminary image acquisition;
if the current distance detection information is equal to the detail distance information, the processing module acquires detail images and finds out current floor information from a preset building height database according to the current height detection information;
the processing module controls the unmanned vehicle corresponding to the current floor information to synchronously acquire the detail image according to the current floor information;
the processing module searches out height adjusting information from a preset adjusting database according to the current height detection information and the current floor information, and adjusts the height of a camera preset on the unmanned vehicle according to the height adjusting information;
and the processing module controls the unmanned vehicle to synchronously move according to the current moving position information and acquires the detail image.
9. An intelligent terminal, comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
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