CN105094143A - Unmanned aerial vehicle based map display method and apparatus - Google Patents
Unmanned aerial vehicle based map display method and apparatus Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle based map display method and apparatus. The method comprises the following steps: controlling an unmanned aerial vehicle to enter a detected area; obtaining a three-dimensional image of the detected area; and transmitting data of the three-dimensional image to a controller so as to carry out three-dimensional map display on the detected area. Through the method and apparatus provided by the invention, the problem of difficulty in obtaining map information of an enclosed area in the prior art is solved.
Description
Technical field
The present invention relates to environmental monitoring field, in particular to a kind of map-indication method based on unmanned plane and device.
Background technology
At environment to be measured; especially the high-risk environment field closed, set up the 3D of environmental map is all study hotspot all the time, in recent years; along with Ben Ladeng by a frame carry laser radar 3D map imager find after, this technology is slowly applied in military affairs.It not only good concealment, antijamming capability strong, be difficult to be intercepted and captured, it is little that simultaneity factor launches bore, can only arrive at very little areas accept, undesired signal is difficult to enter receiver, electromagnetic wave in air is very large on microwave radar impact, but little to laser radar interference, laser radar interference resistance is stronger, and usable range is wider than microwave radar.Even if be found, loss amount is very little, and can adapt to different environment, not only can work in indoor, outdoor, also can work under water simultaneously.At that time for closed region, the scheme in correlation technique was adopted all to be difficult to get its cartographic information.
For the problem being difficult to the cartographic information obtaining closed region in correlation technique, at present effective solution is not yet proposed.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of map-indication method based on unmanned plane and device, to solve in correlation technique the problem being difficult to the cartographic information obtaining closed region.
To achieve these goals, according to an aspect of the present invention, a kind of map-indication method based on unmanned plane is provided.The method comprises: control unmanned plane and enter tested region; Obtain the 3-D view in described tested region; The data of described 3-D view are transferred to controller to carry out three-dimensional map display by described controller to described tested region.
Further, described controller is ground control station, described unmanned plane sends data by transponder pulse signal to described ground control station, described ground control station by echoed signal to described unmanned plane feedback signal, after carrying out three-dimensional map display by described controller to described tested region, described method also comprises: obtain the phase differential between described transponder pulse signal and described echoed signal; The navigation data of described unmanned plane is obtained by the phase differential between described transponder pulse signal and described echoed signal; The navigation display of described unmanned plane is realized by described three-dimensional map and described navigation data.
Further, the data of described 3-D view being transferred to controller with after carrying out three-dimensional map display by described controller to described tested region, described method also comprises: judge whether the three-dimensional map in described tested region has been set up; If judge that the three-dimensional map in described tested region has been set up, then obtain the shortest path of described unmanned plane and predeterminated position; Control described unmanned plane and arrive described predeterminated position with described shortest path.
Further, after the described unmanned plane of control enters described tested region, described method also comprises: the temperature detecting described tested region; Judge that the temperature in described tested region is whether in preset temperature range; If judge that the temperature in described tested region is not in described preset temperature range, then output temperature alerting signal.
Further, the 3-D view obtaining described tested region comprises: to described field emission radar signal to be measured; Receive object in described region to be measured to the reflected signal of described radar signal; Obtain the reflection wavelength of described reflected signal; The 3-D view in described tested region is obtained according to described reflection wavelength.
To achieve these goals, according to a further aspect in the invention, a kind of map display based on unmanned plane is provided.This device comprises: control module, enters tested region for controlling unmanned plane; First acquiring unit, for obtaining the 3-D view in described tested region; Transmission unit, for transferring to controller to carry out three-dimensional map display by described controller to described tested region by the data of described 3-D view.
Further, described controller is ground control station, described unmanned plane sends data by transponder pulse signal to described ground control station, described ground control station by echoed signal to described unmanned plane feedback signal, described device also comprises: second acquisition unit, for after carrying out three-dimensional map display by described controller to described tested region, obtain the phase differential between described transponder pulse signal and described echoed signal; 3rd acquiring unit, for obtaining the navigation data of described unmanned plane by the phase differential between described transponder pulse signal and described echoed signal; Display unit, for realizing the navigation display of described unmanned plane by described three-dimensional map and described navigation data.
Further, described device also comprises: judging unit, for the data of described 3-D view being transferred to controller with after carrying out three-dimensional map display by described controller to described tested region, judge whether the three-dimensional map in described tested region has been set up; 4th acquiring unit, for when judging that the three-dimensional map in described tested region has been set up, obtain the shortest path of described unmanned plane and predeterminated position, wherein, described control module also arrives described predeterminated position for controlling described unmanned plane with described shortest path.
Further, described device also comprises: detecting unit, after entering described tested region at the described unmanned plane of control, detects the temperature in described tested region; Judging unit, for judging that the temperature in described tested region is whether in preset temperature range; Output unit, for when judging that the temperature in described tested region is not in described preset temperature range, output temperature alerting signal.
Further, described first acquiring unit comprises: transmitter module, for described field emission radar signal to be measured; Receiver module, for receiving object in described region to be measured to the reflected signal of described radar signal; First acquisition module, for obtaining the reflection wavelength of described reflected signal; Second acquisition module, for obtaining the 3-D view in described tested region according to described reflection wavelength.
Pass through the present invention, control unmanned plane and enter tested region, obtain the 3-D view in tested region, then the data of described 3-D view are transferred to controller to carry out three-dimensional map display by described controller to described tested region, solve in prior art the problem being difficult to the cartographic information obtaining closed region.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the process flow diagram of the map-indication method based on unmanned plane according to the embodiment of the present invention;
Fig. 2 is the schematic diagram of the map display based on unmanned plane according to the embodiment of the present invention;
Fig. 3 is according to the preferred embodiment of the invention based on the schematic diagram of the map display of unmanned plane; And
Fig. 4 is the schematic diagram of the map denotation based on unmanned plane according to the embodiment of the present invention.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
In order to make those skilled in the art person understand the application's scheme better, below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is clearly and completely described.
Fig. 1 is the process flow diagram of the map-indication method based on unmanned plane according to the embodiment of the present invention.As shown in Figure 1, the method comprises the following steps:
Step S11, controls unmanned plane and enters tested region.
In order to obtain the cartographic information in tested region, first controlling unmanned plane and entering this tested region.Tested region can be one or more tested regions.
Step S12, obtains the 3-D view in tested region.
By the camera that unmanned plane is arranged, tested region is taken, obtain the 3-D view in tested region.
The data of 3-D view are transferred to controller to carry out three-dimensional map display by controller to tested region by step S13.
Unmanned plane is being taken tested region by camera, after obtaining the 3-D view in tested region, the data of 3-D view is transferred to controller, and controller, after the data receiving 3-D view, carries out three-dimensional map display to tested region.
In order to realize the transmission of three-dimensional map information and ground control station, preferably, controller can be ground control station, unmanned plane is by transponder pulse signal control station transmission data earthward, ground control station by echoed signal to unmanned plane feedback signal, after carrying out three-dimensional map display by controller to tested region, the method also comprises: obtain the phase differential between transponder pulse signal and echoed signal.The navigation data of unmanned plane is obtained by the phase differential between transponder pulse signal and echoed signal.The navigation display of unmanned plane is realized by three-dimensional map and navigation data.
By this embodiment, control unmanned plane and enter tested region, obtain the 3-D view in tested region, then the data of described 3-D view are transferred to controller to carry out three-dimensional map display by described controller to described tested region, the cartographic information of closed region can be obtained easily and fast, solve in prior art the problem being difficult to the cartographic information obtaining closed region.
In order to realize completing of cartographic information Quick Acquisition, preferably, the data of 3-D view being transferred to controller with after carrying out three-dimensional map display by controller to tested region, the method also comprises: judge whether the three-dimensional map in tested region has been set up.If judge that the three-dimensional map in tested region has been set up, then obtain the shortest path of unmanned plane and predeterminated position.Control unmanned plane and arrive predeterminated position with shortest path.After control unmanned plane arrives predeterminated position with shortest path, namely achieve the Quick Acquisition of the cartographic information to tested region.
In one embodiment of the invention, preferably, after control unmanned plane enters tested region, the method also comprises: the temperature detecting tested region.Judge that the temperature in tested region is whether in preset temperature range.If judge that the temperature in tested region is not in preset temperature range, then output temperature alerting signal.Thus achieve and carry out alarm when the temperature anomaly in region to be measured.
Preferably, the 3-D view obtaining tested region comprises: to field emission radar signal to be measured.Receive the reflected signal of the object in region to be measured to radar signal.Obtain the reflection wavelength of reflected signal.The 3-D view in tested region is obtained according to reflection wavelength.
The method that the embodiment of the present invention provides can be a kind of based on 3D map real-time display method under UAV enclosed environment.The method utilizes optical image technology, detected region is entered by UAV carrier, dynamic scan or illuminate a certain region, obtain the image information of distant objects, comprising reflectivity, spectrum parameter, three-dimensional data etc., each pixel has independent distance measurement function, therefore, only need a light pulse photograph, just can obtain the three-dimensional image of target.On the one hand, three-dimensional data is through wireless data transmission module, three-dimensional data is transferred to ground control station, realize Dynamic Closed environment 3D map denotation, on the other hand, utilize the phase differential between transponder pulse and echoed signal, two-way time can be obtained by this phase delay, and then obtaining target range information, its distance, as UAV navigation data, makes UAV have independent navigation, target search and the feature such as target detection and aiming.
A kind of map display based on unmanned plane is additionally provided according to the embodiment of the present invention.This device comprises:
Control module 100, enters tested region for controlling unmanned plane.
First acquiring unit 200, for obtaining the 3-D view in tested region.
Transmission unit 300, for transferring to controller to carry out three-dimensional map display by controller to tested region by the data of 3-D view.
Preferably, controller is ground control station, unmanned plane is by transponder pulse signal control station transmission data earthward, ground control station by echoed signal to unmanned plane feedback signal, this device also comprises: second acquisition unit, for after carrying out three-dimensional map display by controller to tested region, obtain the phase differential between transponder pulse signal and echoed signal.3rd acquiring unit, for obtaining the navigation data of unmanned plane by the phase differential between transponder pulse signal and echoed signal.Display unit, for realizing the navigation display of unmanned plane by three-dimensional map and navigation data.
Preferably, device also comprises: judging unit, for the data of 3-D view being transferred to controller with after carrying out three-dimensional map display by controller to tested region, judges whether the three-dimensional map in tested region has been set up.4th acquiring unit, for when judging that the three-dimensional map in tested region has been set up, obtain the shortest path of unmanned plane and predeterminated position, wherein, control module also arrives predeterminated position for controlling unmanned plane with shortest path.
Preferably, device also comprises: detecting unit, after entering tested region at control unmanned plane, detects the temperature in tested region.Judging unit, for judging that the temperature in tested region is whether in preset temperature range.Output unit, for when judging that the temperature in tested region is not in preset temperature range, output temperature alerting signal.
Preferably, the first acquiring unit comprises: transmitter module, for field emission radar signal to be measured.Receiver module, for receiving the reflected signal of the object in region to be measured to radar signal.First acquisition module, for obtaining the reflection wavelength of reflected signal.Second acquisition module, for obtaining the 3-D view in tested region according to reflection wavelength.
Fig. 3 is according to the preferred embodiment of the invention based on the schematic diagram of the map display of unmanned plane.
In the figure, 1 is key-press module, 2 is memory module, 3 is display module, 4 is alarm module, 5 is cradle head control module, 6 is digital signal processing module, 7 is supply module, 8 is data selecting module, 9 is serial ports launching and receiving module, 10 is wireless data transmission module, 11 is D/A converter module, 12 is amplifier, 13 is filtration module, 14 is temperature sensor, 15 is driver module, 16 is laser radar transmitter module, 17 is time interval detection module, 18 is array data module, 19 is integrated circuit modules, 20 is signal gain process, 21 is optical receiver module, 22 is filtration module, 23 is manual automatic switching module, 24 is remote pilot module.
As shown in Figure 3, this embodiment realizes based on 3D map real-time display method under UAV enclosed environment in the following manner:
Map display based on unmanned plane forms primarily of UAV carrier module, laser radar transmitter module, system control module, ground display, monitoring module.The detection at the scene that UAV module, laser radar transmitter module, system controller composition is overall, actuating equipment, ground display, monitoring module, as information, have warning, Presentation Function; Detection, actuating equipment comprise laser radar transmitter module, driver module.
Can should be for being arranged on the electronic equipment on unmanned plane based on the map display of unmanned plane, this electronic equipment comprises: 1, key-press module, 2, memory module, 3, display module, 4, alarm module, 5, cradle head control module, 6, digital signal processing module, 7, supply module, 8, data selecting module, 9, serial ports launching and receiving module, 10, wireless data transmission module, 11, D/A converter module, 12, amplifier, 13, filtration module, 14, temperature sensor, 15, driver module, 16, laser radar transmitter module, 17, time interval detection module, 18, array data module, 19, integrated circuit modules, 20, signal gain process, 21, optical receiver module, 22, filtration module, 23, manual automatic switching module, 24, remote pilot module.
As follows to the functional description of various piece below:
The major function of key-press module 1 is to perform input operation, such as, is used as to take off at a key (being performed by a step input operation) of UAV, resets, the calibration of movement position detecting sensor, completes the front preliminary work of UAV flight etc.
Memory module 2 for the 2-D data in memory scanning region, and stores this area three-dimensional data, such as, utilizes these area three-dimensional data of STF Software Create, stores the control command to UAV simultaneously, and stores display module, data that alarm module is relevant.
Display module 3 for the 3-D view in reading scan region, UAV voltage, UAV attitude information, positional information, velocity information and arrange navigation information.
Alarm module 4 for UAV under-voltage protection prompting and UAV collides, circuit faiture alarm.
Cradle head control module 5 is for regulating the stability of laser radar transmitter module, and the flight stability of UAV fuselage.
Digital signal processing module 6 is the core of routine processes and calculating, as the process nucleus module of Logic judgment.Should move ahead or not, roll, the judgement such as pitching, also generate the major calculations unit of three-dimensional data image simultaneously as 2-D data, and collaboratively receive the data frequency with sending module.
The electric power system of supply module 7 as the circuit of UAV and the electric power system of data processing module.
Data selecting module 8 is for carrying out the coupling of passage, frequency and communication protocol to reception 2-D data.
Serial ports launching and receiving module 9 transmits and receives for the serial ports of scan-data, UAV navigation command information.
Wireless data transmission module 10 receives the communication media with sending module, and the data completing scanning area with serial ports launching and receiving 9 and data selection 8 are transmitted.
D/A converter module 11 is the analog quantity and digital quantity modular converter used in thermal module, complete digital quantity display.
Amplifier module 12 carries out drive amplification function for light current pressure, the current signal that will collect.
Filtration module 13, for the misdata in filtering scanning 2-D data, thermal module, makes measuring accuracy improve.
Temperature sensor 14 is scene temperature of acquisition scans environment, is convenient to carry out pose calibrating to UAV body sensor.
Driver module 15 is mainly used in each road electric motors function driving UAV body, has made it each action of UAV steering order.
Laser radar transmitter module 16 be scanning area bounded in object carry out light wave reflection instrument, for scanning the instrument of 2-D data.
Time interval detection module 17, for calculating the calculating of laser radar launching and receiving, utilizes light velocity of propagation, calculates the spacing of UAV and scanning object.
Array data module 18 is two-dimensional image datas that laser radar transmitter module scanning area generates, for the benchmark that three-dimensional data generates.
Integrated circuit modules 19 is circuit realiration of two-dimensional image data stream.
The digital quantity that signal gain processing module 20 can identify for the scanning collected two-dimensional image data being converted to digital processing chip.
Optical receiver module 21 shines the reflection receivable device on object for the photoion receiving laser radar and launch.
Filtration module 22 filters for the data received optical receiver module, prevents double reflection receivable data.
Manual automatic switching module 23 is that remote pilot and autonomous flight control select handover module, and in elected during remote pilot, body is only by remote pilot, and in elected during autonomous flight pattern, digital signal processing module 6 control UAV body flies.
Remote pilot module 24 runs into emergency case for unmanned plane and adjusts in time, and UAV can utilize that straighforward operation is taken off, battery electric quantity is too low carries out straighforward operation and make a return voyage.
Key-press module 1, memory module 2, display module 3, alarm module 4 and cradle head control module 5 are connected on digital signal processing module 6 respectively, and digital signal processing module 6 respectively Parallel Data selects module 8, D/A converter module 11, driver module 15, time interval detection module 17 and filtration module 22.
Data selecting module 8 connects serial ports launching and receiving module 9, and serial ports launching and receiving module 9 connects wireless data transmission module 10, and wireless data transmission module connects ground display, monitoring module.
D/A converter module 11 connects amplifier 12, and amplifier 12 connects filtration module 13, and filtration module 13 connects temperature sensor 14; Driver module 15 connects laser radar transmitter module 16.
Time interval detection module 17 connects array data module 18, and D/A converter module 18 connects integrated circuit modules 19, and integrated circuit modules 19 connection signal gain process 20, signal gain process 20 connects optical receiver module 21.
Filtration module 22 connects manual automatic switching module 23, and manual automatic switching module 23 connects remote pilot module 24.
Key-press module 1, can as the input resetted with start as the button on unmanned body, and this key-press module stability is good, has anti-interference detection module, and it is digital input signals, is input in digital signal processing module.
Memory module 2 is as storing the program of digit chip and storing the module exported.Can write and can read, can be SRAM or FLASH.SRAM, for extending out RAM, can select IS61ILV51216 chip or IS64ILV51216 etc., have the high-speed memory of 512K*16 position.FLASH chip can select SST39VF800 chip or SST39VF160 chip, when digital signal processing module 6 is FPGA processor, when the internal storage of digital signal processing module 6 is not enough use, available FLASH be used for program curing or store data.
Display module 3 is as the display of unmanned plane state, and be arranged on unmanned body, it has the display module of ready-made serial ports and parallel port form, as OCMJ4X8C-8 module, can use serial ports to process, and also can show as parallel port.
Audible alarm 4 type of alarm by way of caution, digital signal processing module 6 can transfer voice data from memory module 2, carries out playing the acoustic information of reporting to the police, and battery electric quantity deficiency is reported to the police, and does not detect that formulating article reports to the police, and reports to the police away from control area.Common loudspeaker, AL-629J, LTE-1101 or LTE-1181J etc. can be used.
Cradle head control module 5 is the stability regulating laser radar transmitter module, provides safeguard for total system is stable.
Digital signal processing module 6 as 2-D data process core, namely as the processing unit of the data input and output of electronic module, also as the core of routine processes and calculating, as the process nucleus module of Logic judgment.Should move ahead or not, roll, the decision logic such as pitching all belongs to digital signal processing module 6 needs work to be processed.The chips such as DSP, ARM or FPGA can be used as module 6.Also various chips can be selected to combine, when selecting ARM chip, can also intelligent system be carried, as android system.Can the fpga chips such as EP3C40Q240C8, EP3C5E144C8 be selected, can the dsp chips such as TMS320F2812 or TMS320F2407 be selected, the ARM family chips such as ARM7.
Supply module 7, as the power supply unit of UAV, needs to provide multiple DC voltage, has 24V, 12V, 5V, 3.3V and 1.8V voltage.And need to provide two kinds of voltages, digital voltage and analog voltages.Digital power is as the power supply of digital processing part, and simulation part is as the power supply of the module such as signals collecting and amplifier.GODSUNA2412-2W can be selected, the level transferring chip such as 7805,7905, LM1117-3.3V and TPS767D318 or module, and voltage is changed all from high to low.
Wireless data transmission module 10, serial ports launching and receiving 9 combine work together with data selection 8, as signal receiving module.Wireless data transmission module 10 receives gps signal, serial ports launching and receiving 9 can select the ground station module or existing ground station module etc. that oneself define, the signal received is selected by data selection 8, and carries out digital level conversion, converts the level that digital signal processing module 6 can identify to.SN74AVC1T45 etc. can be adopted.
Temperature sensor 14, digital-to-analog conversion 11, filter module 13 combine work together with amplifier 12, as temperature detection and warning function.Detected outer temperature signal is converted to electric signal by temperature sensor 14, and being analog electrical signal, can be the sensor of DS18B20 model.Analog passband signal is crossed low-pass filter, and after carrying out suitable amplification by amplifier 12, obtain the temperature electric signal needed, simulating signal, by digital-to-analog conversion 11 module, is converted to the digital signal that digital signal processing module 6 can identify, processes in digital signal processing module 6 inside by last signal, corresponding temperature is converted to by obtaining digital signal, and judge, judge temperature range, select whether to report to the police.Wave filter 13 can select LC or RC filtering circuit, and amplifier 12 can select 74HC245 chip.Digital-to-analog conversion 11 can select the high-speed AD chip of 14, as AD7865AS2-1 or AD8054AR etc.
Laser radar transmitter module 16, time interval detection module 17, array data module 18, integrated circuit 19 combine work together with time interval detection module 17, laser radar transmitter module 16 is by carrying out light wave reflection to object, the distance of UAV distance object is calculated by time interval detection module 17, by distance as UAV navigational parameter, laser radar transmitter module 16 can be LASIS sensor, or Photonetc imager.
Remote pilot module 24, manual automatic switching module 23 combine work together with filtration module 22, remote pilot module 24 can run into emergency case to unmanned plane and adjust in time, and such as unmanned plane takeoff condition can utilize that straighforward operation is taken off, battery electric quantity is too low carries out straighforward operation and make a return voyage.Manual automatic switching module 23 is that remote pilot and autonomous flight control select handover module, in elected during remote pilot, body is only by remote pilot, in elected during autonomous flight pattern, body is by digital signal processing module 6 logic control, filtration module to control signal (PPM) after filtering, is that body control is more steady.
Fig. 4 is the schematic diagram of the map denotation based on unmanned plane according to the embodiment of the present invention.As shown in Figure 4, pulsed laser 400 is for emission pulse laser, can utilize output laser pulse that clock 401 is set, by pulse laser 402, preferably, by high-frequency pulsed lasers irradiate destination object 500, pulsed laser irradiation on destination object 500 after generation transmit 501, reflected signal 501 obtains 3D rendering 601 after lens 502 on detection array 600.Detection array 600 can be APD detection array.
Can be found out by above-described embodiment, the main modular that the device of the embodiment of the present invention comprises has laser radar module, wireless data transmission module, memory module, display module, audible alarm module, digital signal processing module, supply module, multichannel data selects module, serial ports launching and receiving module, D/A converter module, amplifier module, wave filter, temperature sensor, motor drive module etc., key-press module, memory module, display module, alarm module, cradle head control module connects digital signal processing module respectively, digital signal processing module is parallel multiplex data selecting module respectively, D/A converter module, power amplifier module, level switch module, filtration module, data selecting module connects serial ports launching and receiving module, serial ports launching and receiving model calling wireless data transmission module, and wireless data transmission module and ground display module module carry out exchanges data, laser radar transmitter module connects power amplifier module, and optical receiver module connection signal gain module, does gain process to the light signal received, connect integrated circuit modules successively again, array data process mould, time interval measurement module, is finally connected to digital signal processing module.
By the embodiment of the present invention, achieve following technique effect: 1, this UAV carrier has and breaks through cable operator on simple ground, varying environment can be crossed over and carry out 3D map and show in real time; 2, when UAV enters varying environment, three-dimensional data module as the navigational parameter of UAV, can utilize distance value as input quantity, utilizes pid control algorithm, makes it arrive assigned address, completes the 3D map reconstruction function under enclosed environment; 3, when discovery dangerous suspicious object or after breaking down, can automatic alarm; 4, after UAV completes the 3D map reconstruction of enclosed environment, can with most section path correcting action, tip ground station completes current map Reconstruction of The Function.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. based on a map-indication method for unmanned plane, it is characterized in that, comprising:
Control unmanned plane and enter tested region;
Obtain the 3-D view in described tested region; And
The data of described 3-D view are transferred to controller to carry out three-dimensional map display by described controller to described tested region.
2. method according to claim 1, it is characterized in that, described controller is ground control station, described unmanned plane sends data by transponder pulse signal to described ground control station, described ground control station by echoed signal to described unmanned plane feedback signal, after carrying out three-dimensional map display by described controller to described tested region, described method also comprises:
Obtain the phase differential between described transponder pulse signal and described echoed signal;
The navigation data of described unmanned plane is obtained by the phase differential between described transponder pulse signal and described echoed signal; And
The navigation display of described unmanned plane is realized by described three-dimensional map and described navigation data.
3. method according to claim 1, is characterized in that, the data of described 3-D view being transferred to controller with after carrying out three-dimensional map display by described controller to described tested region, described method also comprises:
Judge whether the three-dimensional map in described tested region has been set up;
If judge that the three-dimensional map in described tested region has been set up, then obtain the shortest path of described unmanned plane and predeterminated position; And
Control described unmanned plane and arrive described predeterminated position with described shortest path.
4. method according to claim 1, is characterized in that, after the described unmanned plane of control enters described tested region, described method also comprises:
Detect the temperature in described tested region;
Judge that the temperature in described tested region is whether in preset temperature range; And
If judge that the temperature in described tested region is not in described preset temperature range, then output temperature alerting signal.
5. method according to claim 1, is characterized in that, the 3-D view obtaining described tested region comprises:
To described field emission radar signal to be measured;
Receive object in described region to be measured to the reflected signal of described radar signal;
Obtain the reflection wavelength of described reflected signal; And
The 3-D view in described tested region is obtained according to described reflection wavelength.
6. based on a map display for unmanned plane, it is characterized in that, comprising:
Control module, enters tested region for controlling unmanned plane;
First acquiring unit, for obtaining the 3-D view in described tested region; And
Transmission unit, for transferring to controller to carry out three-dimensional map display by described controller to described tested region by the data of described 3-D view.
7. device according to claim 6, it is characterized in that, described controller is ground control station, and described unmanned plane sends data by transponder pulse signal to described ground control station, described ground control station is by echoed signal to described unmanned plane feedback signal, and described device also comprises:
Second acquisition unit, for after carrying out three-dimensional map display by described controller to described tested region, obtains the phase differential between described transponder pulse signal and described echoed signal;
3rd acquiring unit, for obtaining the navigation data of described unmanned plane by the phase differential between described transponder pulse signal and described echoed signal; And
Display unit, for realizing the navigation display of described unmanned plane by described three-dimensional map and described navigation data.
8. device according to claim 6, is characterized in that, described device also comprises:
Judging unit, for the data of described 3-D view being transferred to controller with after carrying out three-dimensional map display by described controller to described tested region, judges whether the three-dimensional map in described tested region has been set up; And
4th acquiring unit, for when judging that the three-dimensional map in described tested region has been set up, obtains the shortest path of described unmanned plane and predeterminated position,
Wherein, described control module also arrives described predeterminated position for controlling described unmanned plane with described shortest path.
9. device according to claim 6, is characterized in that, described device also comprises:
Detecting unit, after entering described tested region at the described unmanned plane of control, detects the temperature in described tested region;
Judging unit, for judging that the temperature in described tested region is whether in preset temperature range; And
Output unit, for when judging that the temperature in described tested region is not in described preset temperature range, output temperature alerting signal.
10. device according to claim 6, is characterized in that, described first acquiring unit comprises:
Transmitter module, for described field emission radar signal to be measured;
Receiver module, for receiving object in described region to be measured to the reflected signal of described radar signal;
First acquisition module, for obtaining the reflection wavelength of described reflected signal; And
Second acquisition module, for obtaining the 3-D view in described tested region according to described reflection wavelength.
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| CN201510533041.1A CN105094143A (en) | 2015-08-27 | 2015-08-27 | Unmanned aerial vehicle based map display method and apparatus |
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