CN113701718B - Mapping map data acquisition method, mapping map data acquisition system, storage medium and intelligent terminal - Google Patents
Mapping map data acquisition method, mapping map data acquisition system, storage medium and intelligent terminal Download PDFInfo
- Publication number
- CN113701718B CN113701718B CN202110763638.0A CN202110763638A CN113701718B CN 113701718 B CN113701718 B CN 113701718B CN 202110763638 A CN202110763638 A CN 202110763638A CN 113701718 B CN113701718 B CN 113701718B
- Authority
- CN
- China
- Prior art keywords
- information
- current
- vehicle
- unmanned
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000013507 mapping Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 173
- 238000012545 processing Methods 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 230000003213 activating effect Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 description 6
- 239000010410 layer Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/51—Indexing; Data structures therefor; Storage structures
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Databases & Information Systems (AREA)
- Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Software Systems (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Navigation (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The application relates to a mapping map data acquisition method, a mapping map data acquisition system, a storage medium and an intelligent terminal, and relates to the field of mapping, wherein the method comprises the steps of controlling an unmanned aerial vehicle to fly in a direction away from a tested building if current distance detection information is smaller than detail distance information; if the current distance detection information is greater than the detail distance information, preliminary image acquisition is carried out and storage is carried out; if the current distance detection information is equal to the detail distance information, detail image acquisition is carried out, and the current floor information is searched from a building height database according to the current height detection information; according to the current floor information, controlling the unmanned vehicles to synchronously acquire detailed images; 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 collecting detailed images. The method has the advantages of improving the field acquisition capacity, saving time and labor and being more intelligent.
Description
Technical Field
The application relates to the field of mapping, in particular to a mapping map data acquisition method, a mapping map data acquisition system, a storage medium and an intelligent terminal.
Background
The actual field is mapped through unmanned aerial vehicle, unmanned ship and unmanned vehicle, so that the data is converted into a three-dimensional model for people to use. The three-dimensional model has intuitiveness and integrity, can reflect complex building structures and building space, position and texture information, and is deeply favored by people.
In the related art, for example, in chinese patent with publication number CN107702692B, an unmanned aerial vehicle mapping method based on an AGV matrix mainly uses the mapping unmanned aerial vehicle as an AGV matrix, and the central unmanned aerial vehicle controls the auxiliary unmanned aerial vehicle to perform multiple mapping in the set AGV matrix; the central unmanned aerial vehicle transmits the mapping data obtained through integration to a remote client through a main controller, and the whole mapping map is obtained after the mapping unmanned aerial vehicle is integrated through multiple measurements. The method comprises the steps of setting an AGV matrix of the whole measurement range into a coordinate system taking 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; setting every 10 cm as a turning point through a calculation module of the main control mechanism, and establishing a virtual coordinate matrix; the auxiliary unmanned aerial vehicle defines landmark values, rows and columns of each group through a virtual coordinate matrix manufactured by the central unmanned aerial vehicle and manual operation to respectively map; effectively improve the efficiency of survey and drawing.
With respect to the above related art, the inventor believes that the unmanned aerial vehicle cannot fly into a small place of a building due to the influence of the body type of the unmanned aerial vehicle, so that a worker is required to enter the building, and thus detail collection on site is performed, which is time-consuming and laborious, and there is room for improvement.
Disclosure of Invention
In order to improve the capability of on-site acquisition, time and labor are saved, and the method is more intelligent, and the application provides a mapping map data acquisition method.
In a first aspect, the present application provides a mapping map data acquisition method, which adopts the following technical scheme:
a mapping map data acquisition 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 tested building and current moving position information of the unmanned aerial vehicle;
judging whether the current distance detection information is larger than 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 in a direction away from the tested building;
if the current distance detection information is greater than the detail distance information, preliminary image acquisition is carried out and storage is carried out;
if the current distance detection information is equal to the detail distance information, detail image acquisition is carried out, and the current floor information is searched from a preset building height database according to the current height detection information;
According to the current floor information, controlling the unmanned vehicles corresponding to the current floor information to synchronously acquire detailed images;
searching out adjusting height 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 adjusting height information;
and controlling the unmanned vehicle to synchronously move according to the current moving position information, and collecting detailed images.
Through adopting above-mentioned technical scheme, through judging the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition is in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to the height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicles, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving is more intelligent.
Optionally, the method for synchronously moving the unmanned aerial vehicle to follow the unmanned aerial vehicle on the same floor includes:
acquiring current positioning information of the unmanned vehicle in the current floor information;
searching detection area information from a preset map database according to the current mobile position information;
Activating the unmanned aerial vehicle corresponding to the current positioning information falling into the detection area information, and synchronously moving and collecting along with the unmanned aerial vehicle;
waiting for the unmanned vehicle corresponding to the current positioning information which does not fall into the detection area information;
and when the detection area information is switched, the unmanned vehicle corresponding to the synchronous switching is followed and synchronously moved to collect.
Through adopting above-mentioned technical scheme, through fixing a position to the unmanned aerial vehicle to know the position that the unmanned aerial vehicle is located current floor, and through knowing the direction of movement of unmanned aerial vehicle, thereby know the position that will arrive, and the unmanned aerial vehicle in the control corresponding region goes to the code, thereby realize the switching to different regions.
Optionally, when the detection area information of the same layer is switched, the unmanned vehicle acquisition switching method comprises the following steps:
connecting coordinate points corresponding to the continuously acquired current moving position information in preset interval time to acquire movement 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 travel to the connection position of the detection area information and the first area information, and staying at the connection position;
Judging whether an unmanned vehicle corresponding to current positioning information in the detection area information reaches the joint of the detection area information and the first area information or not;
if the vehicle does not arrive, the unmanned vehicle at the joint is not collected and does not move;
if the vehicle arrives, the vehicle is switched to the unmanned vehicle at the joint, and the vehicle and the unmanned vehicle synchronously move and collect.
Through adopting above-mentioned technical scheme, when unmanned vehicles switch in same floor, in order to improve the image acquisition ability when switching, make unmanned vehicles switch more steadily, consequently will make unmanned vehicles switch in the junction to carry out the collection of image, it is more stable.
Optionally, when the unmanned aerial vehicle switches between different floors, the unmanned aerial vehicle switching method includes:
connecting coordinate points corresponding to the continuously acquired current height detection information in 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 travel to the vertical connection position of the positioning information and the second area information, and staying 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 vehicle does not arrive, the unmanned vehicle at the vertical connection position is not collected and does not move;
if the vehicle arrives, the vehicle is switched to the unmanned vehicle at the vertical connection position, and the vehicle and the unmanned vehicle synchronously move and collect.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle switches when the floor of difference, and the unmanned aerial vehicle that is located different floors also can switch thereupon to through knowing the position of unmanned aerial vehicle that is gathering at present, the condition and the unmanned aerial vehicle's of the cooperation floor trend of motion again, thereby control the unmanned aerial vehicle that waits to gather the image and go forward the position that corresponds in advance, better excessively, the practicality is strong.
Optionally, the unmanned aerial vehicle flies between different floors, and the method for switching the unmanned aerial vehicle between 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;
If the current distance detection information is smaller than or equal to the switching distance information, controlling the unmanned aerial vehicle to stay at the current height and fly to one side far away from the tested building, and recovering lifting movement of the unmanned aerial vehicle until the current distance detection information is larger than the switching distance information.
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 can exist other buildings, consequently need keep switching distance, consequently when carrying out the floor and switch over, switch over to switching distance earlier, carry out the switching of floor again, improve flight security.
Optionally, the rotation method of 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 adjustment height information;
according to the rotation rule, the rotation of the camera on the unmanned vehicle is controlled.
Through adopting above-mentioned technical scheme, detect through the camera on the unmanned vehicles to gather the image of building, and through rotating the camera, with gather the acquisition to 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 a camera;
adjusting current circumferential rotation angle information and current inclination rotation information according to the positioning information, and sequentially outputting detection images of different angle orientations to construct an acquisition image library;
correcting and adjusting the height information on the same positioning information, and adjusting the current circumferential rotation angle information and the current inclination rotation information so as to increase the detected image to an acquired image library;
sequentially inputting the detection images in the acquisition gallery into a preset identification model and outputting identification images;
screening 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 acquired images are inconsistent, removing the current circumferential rotation angle information and the current inclination rotation information corresponding to the acquired images in the gallery until the detection range database is perfected.
Through adopting above-mentioned technical scheme, through rotatory to circumference to also carry out rotation regulation to the gradient, thereby judge the definition of the image of discernment, in order to obtain clear image, the practicality is strong.
In a second aspect, the present application provides a mapping map data acquisition system, which adopts the following technical scheme:
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 preset detail distance information or not;
the processing module is connected with the acquisition module and the judging module and is used for processing and storing information;
if the current distance detection information is smaller than the detail distance information, the processing module controls the unmanned aerial vehicle to fly in a direction away from the tested 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 searches current floor information from a preset building height database according to the current height detection information;
the processing module is used for controlling the unmanned vehicles corresponding to the current floor information to synchronously acquire detailed images according to the current floor information;
The processing module searches the adjustment height information from a preset adjustment 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 adjustment height information;
the processing module controls the unmanned aerial vehicle to synchronously move according to the current moving position information and collects detailed images.
Through adopting above-mentioned technical scheme, through judging the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition is in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to the height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicles, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving 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 capable of being loaded by the processor and performing any of the methods described above.
Through adopting above-mentioned technical scheme, through judging the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition is in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to the height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicles, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving is more intelligent.
In a fourth aspect, the present application provides a computer storage medium, capable of storing a corresponding program, and having the characteristics of being convenient for realizing the capability of improving on-site acquisition, saving time and effort, and being more intelligent, by adopting the following technical scheme:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing any one of the methods described above.
Through adopting above-mentioned technical scheme, through judging the distance detection information when detecting unmanned aerial vehicle to know unmanned aerial vehicle's image acquisition is in preliminary image acquisition stage, still detail image acquisition stage. And through the understanding to the height detection information to judge the floor, and carry out synchronous regulation to the camera on the unmanned vehicles, also carry out synchronous removal, improve the ability of on-the-spot collection, labour saving and time saving 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 aerial vehicle collect synchronously, so that the field collection capacity is improved, time and labor are saved, and the unmanned aerial vehicle is more intelligent;
2. when the unmanned vehicle collects between floors and between adjacent areas, the unmanned vehicle is more stable, and the collection error is reduced.
Drawings
FIG. 1 is a flow chart of a method of mapping map data acquisition.
Fig. 2 is a flow chart of a method for synchronized movement of a drone following a drone on the same floor.
Fig. 3 is a flowchart of an acquisition switching method of the unmanned vehicle.
Fig. 4 is a flowchart of a method of switching an unmanned vehicle.
Fig. 5 is a flow chart of a method of switching between floors for a drone.
Fig. 6 is a flowchart of a method of acquiring a detection range database.
Fig. 7 is a flowchart of a method of acquiring a detection range database.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 7 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Referring to fig. 1, an embodiment of the application discloses a mapping map data acquisition method, wherein unmanned aerial vehicles are arranged on the periphery of a building to fly and acquire three-dimensional data, unmanned vehicles are arranged on each layer in the building, areas corresponding to the unmanned vehicles on each layer are different, and the unmanned vehicles are set by staff according to actual conditions. The unmanned aerial vehicle and the unmanned aerial vehicle are synchronously collected, so that the three-dimensional data of the building are further collected.
The mapping map data acquisition method comprises the following steps:
step 100: and acquiring current height detection information of the current unmanned aerial vehicle, current distance detection information from the current unmanned aerial vehicle to a tested building and current moving position information of the unmanned aerial vehicle.
Install altitude sensor on unmanned aerial vehicle, thereby detect unmanned aerial vehicle's current flying altitude through altitude sensor to output altitude detection information.
The unmanned aerial vehicle is provided with a distance sensor, the distance between the unmanned aerial vehicle and a building is detected through the distance sensor, distance detection information is output, and the direction of the distance sensor is consistent with that of a camera on the unmanned aerial vehicle.
The gps positioning module is arranged on the unmanned aerial vehicle, the position of the unmanned aerial vehicle is known through the gps positioning module, and after the position is moved, the position corresponding to the gps positioning module is changed, so that the position is updated, movement position information is output, and the movement direction and the movement distance are provided in the movement position information.
Step 101: and judging whether the current distance detection information is larger than 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 may be set by a worker according to actual situations, which is not described herein. The distance between the unmanned aerial vehicle and the building is judged, so that preliminary image acquisition and detail image acquisition are switched, and the focusing distance of a camera on the unmanned aerial vehicle is controlled.
Step 1010: and if the current distance detection information is smaller than the detail distance information, controlling the unmanned aerial vehicle to fly in a direction away from the tested building.
If the distance corresponding to the current distance detection information is smaller than the distance corresponding to the detail distance information, the distance is too short, and therefore the unmanned aerial vehicle is controlled to fly in the direction away from the tested building, and the distance between the building and the unmanned aerial vehicle is pulled away, so that the flying safety is guaranteed.
Step 1011: and if the current distance detection information is greater than the detail distance information, performing preliminary 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 distance between the unmanned aerial vehicle and the building is too far, so that preliminary image acquisition, namely appearance acquisition and storage can be performed on the building. After collection is finished, the unmanned aerial vehicle can be controlled by a worker to approach the building.
Step 1012: and if the current distance detection information is equal to the detail distance information, detail image acquisition is carried out, and the current floor information is searched from a preset building height database according to the current height detection information.
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 the current floor information from the building height database through the knowledge of the current height detection information. The building height database is a preset database, is set by staff, and can be used for knowing floors, namely floor information, through the knowledge of the height detection information.
Step 102: and according to the current floor information, controlling the unmanned vehicles corresponding to the current floor information to synchronously acquire the detail images.
Each floor is provided with different unmanned vehicles for collecting, so that the current floor information is known, and detail image collection is synchronously carried out by controlling the unmanned vehicles corresponding to the current floor information, so that the unmanned vehicles are matched with the unmanned vehicles for collecting images.
Step 103: and searching the adjusting height 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 adjusting height information.
The unmanned aerial vehicle is provided with a camera, the camera is used for collecting images of a building, the camera on the unmanned aerial vehicle is used for lifting and adjusting, and the unmanned aerial vehicle is provided with an electronic push rod so as to adjust the lifting of the camera.
And according to the height corresponding to the current height detection information and the current floor information, searching the adjustment height information from an adjustment database, wherein the adjustment database is a preset database, and the adjustment height 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 floor information has the height of the current floor. Therefore, the distance difference between the unmanned aerial vehicle and the current floor can be known, and the distance difference is the height information, so that the height of the camera on the unmanned aerial vehicle can be adjusted by the distance difference.
Step 104: and controlling the unmanned vehicle to synchronously move according to the current moving position information, and collecting detailed images.
According to the current moving position information of the unmanned aerial vehicle, the moving condition 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 aerial vehicle is on the same floor, the unmanned aerial vehicle is followed, and the synchronous movement method comprises the following steps:
step 200: and acquiring the current positioning information of the unmanned vehicle in the current floor information.
The unmanned aerial vehicle is provided with a positioning module, at least 2 base stations are arranged on each floor, and the positioning modules and the base stations mutually interact information, so that the position of the unmanned aerial vehicle in the current floor is determined, namely, the positioning information is output. The frequencies of the base stations are different between adjacent floors, thereby being used for distinguishing.
Step 201: and searching out detection area information from a preset map database according to the current mobile position information.
The map database is a preset database, and the map database is provided with a plane map of each building, so that detection area information is searched from the map database through knowledge of the current moving position information of the unmanned aerial vehicle, the detection area information is a corresponding area which is responsible for the unmanned aerial vehicle, and the unmanned aerial vehicles in each floor are partitioned, so that each unmanned aerial vehicle is respectively responsible for image acquisition of different areas.
Step 202: and activating the unmanned aerial vehicle corresponding to the current positioning information falling into the detection area information, and synchronously moving and collecting along with the unmanned aerial 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 aerial vehicle moves synchronously along with the unmanned aerial vehicle to collect images.
Step 203: and waiting the unmanned vehicle corresponding to the current positioning information which does not fall into the detection area information.
And waiting all unmanned vehicles corresponding to the current positioning information which does not fall into the detection area information.
Step 204: and when the detection area information is switched, the unmanned vehicle corresponding to the synchronous switching is followed and synchronously moved to collect.
When the detection area information is switched, namely, the unmanned vehicles in the current detection area information reach the limit in the range, the unmanned vehicles are switched, namely, the unmanned vehicles in the current detection area information are in a standby state, the unmanned vehicles in the other detection area information corresponding to the unmanned vehicles are in an activated following state, and the activated unmanned vehicles follow and synchronously move and collect.
Referring to fig. 3, in the unmanned vehicle located at the same floor, when the detection area information of the same floor is switched, the acquisition switching method of the unmanned vehicle includes the following steps:
step 300: and connecting coordinate points corresponding to the continuously acquired current moving position information in preset interval time to acquire movement direction information.
The interval time is preset time, and is set by a worker according to actual conditions, and is not described herein.
In the interval time, the coordinate points corresponding to the continuously acquired current moving position information are sequentially connected, and the connected direction is the moving direction information, so that the moving direction of the unmanned aerial vehicle is known.
Step 301: and searching the first area information from the map database according to the movement direction information and the current detection area information.
And searching first area information from a map database according to the movement direction information and the current detection area information of the unmanned aerial vehicle, wherein the first area information is an area which is about to be reached by the unmanned aerial vehicle in the same layer. Therefore, after the detection area information and the movement direction information of the unmanned vehicles which are already working at present are known, the unmanned vehicles which are about to reach the area can be prepared for acquisition.
Step 302: and activating the unmanned vehicle corresponding to the current positioning information falling into the first area information, driving the unmanned vehicle to travel to the connection position of the detection area information and the first area information, and staying at the connection position.
The unmanned vehicle corresponding to the current positioning information falling into the first area information is activated in advance, and the unmanned vehicle is driven to travel to the connection position of the detection area information and the first area information, and stays at the connection position to be 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 vehicles corresponding to the current positioning information in the detection area information reach 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 the vehicle does not arrive, the unmanned vehicle at the joint is not collected and does not move.
If the unmanned vehicle corresponding to the current positioning information in the detection area information does not reach the connection position of the detection area information and the first area information, the waiting unmanned vehicle at the connection position does not collect and does not move.
Step 3031: if the vehicle arrives, the vehicle is switched to the unmanned vehicle at the joint, and the vehicle and the unmanned vehicle synchronously move and collect.
If 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, switching to the waiting unmanned vehicle positioned at the connection position to start acquisition, and synchronously moving with the unmanned aerial vehicle. And the unmanned vehicle which just reaches the joint stops moving and collecting.
Referring to fig. 4, when the unmanned aerial vehicle switches between different floors, the unmanned aerial vehicle switching method includes the following steps:
step 400: and connecting coordinate points corresponding to the continuously acquired current height detection information in preset interval time to acquire lifting direction information.
The interval time is preset time, and is set by a worker according to actual conditions, and is not described herein.
In the interval time, the coordinate points corresponding to the continuously acquired current height detection information are sequentially connected, and the direction after connection is the lifting direction information, so that the lifting condition of the unmanned aerial vehicle is known.
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 an area which is different in layer and is located in the same position plane and is about to be reached by the unmanned aerial vehicle. Therefore, after the detection area information and the lifting direction information of the unmanned vehicles which are already working at present are known, the unmanned vehicles which are about to reach the area can be prepared for acquisition.
Step 402: and activating the unmanned vehicle corresponding to the current positioning information in the second area information, driving the unmanned vehicle to travel to the vertical connection position of the positioning information and the second area information, and staying 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 travel to the vertical connection position of the positioning information and the second area information, and staying 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 vehicles corresponding to the current positioning information in the detection area information reach 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 the vehicle does not arrive, the unmanned vehicle at the vertical connection position is not collected and 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 collect and does not move.
Step 4031: if the vehicle arrives, the vehicle is switched to the unmanned vehicle at the vertical connection position, and the vehicle and the unmanned vehicle synchronously move and collect.
If the unmanned aerial 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 aerial vehicle positioned at the vertical connection position starts to collect and synchronously moves with the unmanned aerial vehicle.
Referring to fig. 5, when the unmanned aerial vehicle flies between different floors, the unmanned aerial vehicle flies between floors, and the method for switching the heights of the unmanned aerial vehicle during the 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 staff according to actual conditions.
Judging whether the current height detection information is larger than the current floor critical height information in the current floor information or not, so as to judge whether the current flight height of the unmanned aerial vehicle reaches the height of the required switching floor in the current floor or not, and further adjusting the flight of the unmanned aerial vehicle.
Step 501: 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 a worker according to actual situations, and is not described herein. The unmanned aerial vehicle is kept at a safe interval, so that the flight stability of the unmanned aerial vehicle can be improved.
Step 502: if the current distance detection information is smaller than or equal to the switching distance information, controlling the unmanned aerial vehicle to stay at the current height and fly to one side far away from the tested building, and recovering lifting movement of the unmanned aerial vehicle until the current distance detection information is larger than the switching distance information.
Once the current distance detection information is smaller than or equal to the switching distance information, the unmanned aerial vehicle is too close to the building, the unmanned aerial vehicle is controlled to stay at the current height, fly to one side far away from the tested building, the distance is detected in real time, and the unmanned aerial vehicle resumes lifting movement until the current distance detection information is larger than the switching distance information.
Referring to fig. 6, a camera for collection is installed on an unmanned vehicle, and a rotation method of the camera on the unmanned vehicle includes the steps of:
step 600: and searching a rotation rule of the camera from a preset detection range database according to the current positioning information and the adjustment height information.
After knowing current positioning information of unmanned aerial vehicle and the regulation height information of unmanned aerial vehicle, just know the position of current unmanned aerial vehicle and the required height after adjusting of camera on the unmanned aerial vehicle to look for the rotation rule of camera in the detection range database.
Step 601: according to the rotation rule, the rotation of the camera on the unmanned vehicle is controlled.
According to the rotation rule, the rotation of the camera on the unmanned vehicle is controlled.
Referring to fig. 7, the acquisition method of the detection range database includes the steps of:
step 700: and acquiring current circumferential rotation angle information and current inclination rotation information of the camera.
Thereby detect the circumstances of the circumference rotation of camera through angle sensor and thereby output current circumference rotation angle information, thereby detect the orientation angle of camera through angle sensor and output gradient rotation information.
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 of different angle orientations to construct an acquisition image library.
In the process of collecting data, after the unmanned vehicle runs to one coordinate point, positioning information is output, and images are collected to the periphery by taking the positioning information as an instruction. And when the image is acquired, the current circumferential rotation angle information is firstly adjusted, so that one round of acquisition is completed, the current inclination rotation information is adjusted once, and after the adjustment, the new round of current circumferential rotation angle information is adjusted and acquired, the acquisition of detection images is repeatedly and sequentially acquired, so as to obtain detection images in different angle orientations, and the detection images are acquired to construct an acquisition image library, so that the detection images are stored.
Step 702: and correcting and adjusting the height information on the same positioning information, and adjusting the current circumferential rotation angle information and the current inclination rotation information so as to increase the detected image to the acquired 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 adding the detection images into an acquisition image library.
Step 703: and sequentially inputting the detection images in the acquisition gallery into a preset identification model and outputting identification images.
After the collection is completed, the detection images in the collection gallery are sequentially input into the recognition model, the recognition model is a preset model database and is used for detecting and recognizing objects in the detection images, and therefore the recognition images are output.
Step 704: and screening the identification object information from the identification image.
The recognition model has data of different objects, and recognition object information is screened from the recognition image, so that the situation of the objects is judged.
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 identification model is judged to judge whether the images at different positions, different heights and different angles are clear or not.
Step 706: and if the acquired images are inconsistent, removing the current circumferential rotation angle information and the current inclination rotation information corresponding to the acquired images in the gallery 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 angle are not clear, and the current circumferential rotation angle information and the current inclination rotation information corresponding to the identification image in the acquisition gallery are removed.
Once the identification object information is consistent with the definition of the identification model, the position, the height and the angle are clear, and the current circumferential rotation angle information and the current inclination rotation information corresponding to the identification image in the acquisition gallery are stored until all the images are processed, so that the detection range database is perfected.
Based on the same inventive concept, an embodiment of the present invention provides a mapping map data acquisition system, including:
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 preset detail distance information or not;
the processing module is connected with the acquisition module and the judging module and is used for processing and storing information;
if the current distance detection information is smaller than the detail distance information, the processing module controls the unmanned aerial vehicle to fly in a direction away from the tested 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 searches current floor information from a preset building height database according to the current height detection information;
the processing module is used for controlling the unmanned vehicles corresponding to the current floor information to synchronously acquire detailed images according to the current floor information;
the processing module searches the adjustment height information from a preset adjustment 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 adjustment height information;
the processing module controls the unmanned aerial vehicle to synchronously move according to the current moving position information and collects detailed images.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
Embodiments of the present invention provide a computer-readable storage medium storing a computer program capable of being loaded by a processor and executing a mapping map data acquisition method.
The computer storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program capable of being loaded by the processor and executing a mapping map data acquisition method.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the application, in which any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (8)
1. A mapping map data acquisition method, characterized by comprising:
acquiring current height detection information of a current unmanned aerial vehicle, current distance detection information from the current unmanned aerial vehicle to a tested building and current moving position information of the unmanned aerial vehicle;
judging whether the current distance detection information is larger than 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 in a direction away from the tested building;
if the current distance detection information is greater than the detail distance information, preliminary image acquisition is carried out and storage is carried out;
if the current distance detection information is equal to the detail distance information, detail image acquisition is carried out, and the current floor information is searched from a preset building height database according to the current height detection information;
According to the current floor information, controlling the unmanned vehicles corresponding to the current floor information to synchronously acquire detailed images;
searching out adjusting height 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 adjusting height information;
according to the current moving position information, controlling the unmanned vehicle to synchronously move, and collecting detailed images;
the synchronous movement method for the unmanned aerial vehicle to follow the unmanned aerial vehicle on the same floor comprises the following steps:
acquiring current positioning information of the unmanned vehicle in the current floor information;
searching detection area information from a preset map database according to the current mobile position information;
activating the unmanned aerial vehicle corresponding to the current positioning information falling into the detection area information, and synchronously moving and collecting along with the unmanned aerial vehicle;
waiting for the unmanned vehicle corresponding to the current positioning information which does not fall into the detection area information;
when the detection area information is switched, the unmanned vehicle corresponding to the synchronous switching is followed and synchronously moved to collect;
when the detection area information of the same layer is switched, the unmanned vehicle acquisition switching method comprises the following steps:
Connecting coordinate points corresponding to the continuously acquired current moving position information in preset interval time to acquire movement 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 travel to the connection position of the detection area information and the first area information, and staying at the connection position;
judging whether an unmanned vehicle corresponding to current positioning information in the detection area information reaches the joint of the detection area information and the first area information or not;
if the vehicle does not arrive, the unmanned vehicle at the joint is not collected and does not move;
if the vehicle arrives, the vehicle is switched to the unmanned vehicle at the joint, and the vehicle and the unmanned vehicle synchronously move and collect.
2. A mapping map data acquisition method as claimed in claim 1, characterized in that: when the unmanned aerial vehicle is switched on different floors, the switching method of the unmanned aerial vehicle comprises the following steps:
connecting coordinate points corresponding to the continuously acquired current height detection information in 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 travel to the vertical connection position of the positioning information and the second area information, and staying 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 vehicle does not arrive, the unmanned vehicle at the vertical connection position is not collected and does not move;
if the vehicle arrives, the vehicle is switched to the unmanned vehicle at the vertical connection position, and the vehicle and the unmanned vehicle synchronously move and collect.
3. A mapping map data acquisition method as claimed in claim 2, characterized in that: 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;
If the current distance detection information is smaller than or equal to the switching distance information, controlling the unmanned aerial vehicle to stay at the current height and fly to one side far away from the tested building, and recovering lifting movement of the unmanned aerial vehicle until the current distance detection information is larger than the switching distance information.
4. A mapping map data acquisition method as claimed in claim 1, characterized in that: 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 adjustment height information;
according to the rotation rule, the rotation of the camera on the unmanned vehicle is controlled.
5. The mapping map data acquisition method of claim 4, wherein: the acquisition method of the detection range database comprises the following steps:
acquiring current circumferential rotation angle information and current inclination rotation information of a camera;
adjusting current circumferential rotation angle information and current inclination rotation information according to the positioning information, and sequentially outputting detection images of different angle orientations to construct an acquisition image library;
correcting and adjusting the height information on the same positioning information, and adjusting the current circumferential rotation angle information and the current inclination rotation information so as to increase the detected image to an acquired image library;
Sequentially inputting the detection images in the acquisition gallery into a preset identification model and outputting identification images;
screening 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 acquired images are inconsistent, removing the current circumferential rotation angle information and the current inclination rotation information corresponding to the acquired images in the gallery until the detection range database is perfected.
6. A mapping map data acquisition system performing a mapping map data acquisition method as claimed in any one of claims 1 to 5, 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 preset detail distance information or not;
the processing module is connected with the acquisition module and the judging module and is used for processing and storing information;
if the current distance detection information is smaller than the detail distance information, the processing module controls the unmanned aerial vehicle to fly in a direction away from the tested 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 searches current floor information from a preset building height database according to the current height detection information;
the processing module is used for controlling the unmanned vehicles corresponding to the current floor information to synchronously acquire detailed images according to the current floor information;
the processing module searches the adjustment height information from a preset adjustment 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 adjustment height information;
the processing module controls the unmanned aerial vehicle to synchronously move according to the current moving position information and collects detailed images.
7. An intelligent terminal comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing the method according to any of claims 1 to 5.
8. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110763638.0A CN113701718B (en) | 2021-07-06 | 2021-07-06 | Mapping map data acquisition method, mapping map data acquisition system, storage medium and intelligent terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110763638.0A CN113701718B (en) | 2021-07-06 | 2021-07-06 | Mapping map data acquisition method, mapping map data acquisition system, storage medium and intelligent terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113701718A CN113701718A (en) | 2021-11-26 |
| CN113701718B true CN113701718B (en) | 2024-03-19 |
Family
ID=78648408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110763638.0A Active CN113701718B (en) | 2021-07-06 | 2021-07-06 | Mapping map data acquisition method, mapping map data acquisition system, storage medium and intelligent terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113701718B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114476065B (en) * | 2022-03-28 | 2022-11-22 | 黄河水利职业技术学院 | Unmanned aerial vehicle remote sensing device for surveying and mapping engineering measurement |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774221A (en) * | 2017-01-22 | 2017-05-31 | 江苏中科院智能科学技术应用研究院 | A kind of unmanned plane cooperates patrol system and method with unmanned vehicle |
| KR101957958B1 (en) * | 2018-08-28 | 2019-03-14 | 주식회사 에이엠 특장 | Safety apparatus of a trash truck using a drone |
| CN110648389A (en) * | 2019-08-22 | 2020-01-03 | 广东工业大学 | 3D reconstruction method and system for city street view based on cooperation of unmanned aerial vehicle and edge vehicle |
| CN110873565A (en) * | 2019-11-21 | 2020-03-10 | 北京航空航天大学 | Unmanned aerial vehicle real-time path planning method for urban scene reconstruction |
| WO2020107468A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Control method for unmanned device, and unmanned vehicle |
| CN111442763A (en) * | 2020-04-30 | 2020-07-24 | 宁波市交建工程监理咨询有限公司 | Unmanned aerial vehicle building project supervision method and system, intelligent terminal and storage medium |
| CN111964665A (en) * | 2020-07-23 | 2020-11-20 | 武汉理工大学 | Intelligent vehicle positioning method and system based on vehicle-mounted all-around image and storage medium |
| CN112433539A (en) * | 2020-11-27 | 2021-03-02 | 佛山市墨纳森智能科技有限公司 | Unmanned aerial vehicle scheduling method and system for processing high-speed traffic accidents and readable storage medium |
-
2021
- 2021-07-06 CN CN202110763638.0A patent/CN113701718B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774221A (en) * | 2017-01-22 | 2017-05-31 | 江苏中科院智能科学技术应用研究院 | A kind of unmanned plane cooperates patrol system and method with unmanned vehicle |
| KR101957958B1 (en) * | 2018-08-28 | 2019-03-14 | 주식회사 에이엠 특장 | Safety apparatus of a trash truck using a drone |
| WO2020107468A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Control method for unmanned device, and unmanned vehicle |
| CN110648389A (en) * | 2019-08-22 | 2020-01-03 | 广东工业大学 | 3D reconstruction method and system for city street view based on cooperation of unmanned aerial vehicle and edge vehicle |
| CN110873565A (en) * | 2019-11-21 | 2020-03-10 | 北京航空航天大学 | Unmanned aerial vehicle real-time path planning method for urban scene reconstruction |
| CN111442763A (en) * | 2020-04-30 | 2020-07-24 | 宁波市交建工程监理咨询有限公司 | Unmanned aerial vehicle building project supervision method and system, intelligent terminal and storage medium |
| CN111964665A (en) * | 2020-07-23 | 2020-11-20 | 武汉理工大学 | Intelligent vehicle positioning method and system based on vehicle-mounted all-around image and storage medium |
| CN112433539A (en) * | 2020-11-27 | 2021-03-02 | 佛山市墨纳森智能科技有限公司 | Unmanned aerial vehicle scheduling method and system for processing high-speed traffic accidents and readable storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 基于Virtools的虚拟现实系统建模与优化;谢阳;张燕;李改红;马梁;;微处理机;20130215(第01期);全文 * |
| 基于四旋翼无人机的车辆自主抄牌;李晓龙;陈国良;葛凯凯;;计算机与现代化;20181015(第10期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113701718A (en) | 2021-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107943073B (en) | Unmanned aerial vehicle taking-off and landing method, equipment and system and unmanned aerial vehicle | |
| CN107514993B (en) | The collecting method and system towards single building modeling based on unmanned plane | |
| JP5690539B2 (en) | Automatic take-off and landing system | |
| US10565787B1 (en) | Systems and methods for enhanced 3D modeling of a complex object | |
| US9020666B2 (en) | Taking-off and landing target instrument and automatic taking-off and landing system | |
| EP3729227A1 (en) | Image based localization for unmanned aerial vehicles, and associated systems and methods | |
| CN111552304B (en) | Unmanned aerial vehicle recycling system and recycling method | |
| CN113701718B (en) | Mapping map data acquisition method, mapping map data acquisition system, storage medium and intelligent terminal | |
| JP6515367B1 (en) | Imaging system and imaging method | |
| CN113066120B (en) | Intelligent pole and tower inclination detection method based on machine vision | |
| CN109282808A (en) | Unmanned plane and Multi-sensor Fusion localization method for the detection of bridge Cut-fill | |
| CN111766897A (en) | Channel inspection method of power transmission line, unmanned aerial vehicle and system | |
| EP3868652A1 (en) | Information processing system, information processing method, and program | |
| CN112200863A (en) | Unmanned aerial vehicle monitoring telegraph pole inclination system based on synchronous positioning and mapping | |
| CN113148209A (en) | Method for controlling unmanned aerial vehicle to return to hangar, unmanned aerial vehicle recovery device and system | |
| CN114407030A (en) | Autonomous navigation distribution network live working robot and working method thereof | |
| WO2020194495A1 (en) | Landing management device, landing management method, and landing management system | |
| CN111257331A (en) | Unmanned aerial vehicle inspection system and inspection method | |
| CN114089787A (en) | Ground three-dimensional semantic map based on multi-machine cooperative flight and construction method thereof | |
| CN110104167A (en) | A kind of automation search and rescue UAV system and control method using infrared thermal imaging sensor | |
| CN111382971A (en) | Unmanned aerial vehicle multipoint automatic distribution method and device | |
| CN110968112B (en) | Unmanned aerial vehicle autonomous landing method based on monocular vision | |
| CN112269399A (en) | Active recovery control method and device applied to unmanned aerial vehicle | |
| WO2019030820A1 (en) | Flying vehicle, flying vehicle control device, flying vehicle control method, and flying vehicle control program | |
| CN114268964B (en) | Base station autonomous cooperative deployment method based on unmanned aerial vehicle cluster in unknown indoor environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 315200 rooms 9-1 and 9-2, No. 1, shunye street, camel street, Zhenhai District, Ningbo City, Zhejiang Province (one photo and multiple addresses) Applicant after: Haice information technology (Zhejiang) Co.,Ltd. Address before: 315200 room 9-1, No. 1, shunye street, camel street, Zhenhai District, Ningbo City, Zhejiang Province Applicant before: Ningbo haice surveying and mapping Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |