CN108983809A - The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane - Google Patents
The method and unmanned plane of accurate identification positioning surrounding based on unmanned plane Download PDFInfo
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Abstract
The present invention provides the method and unmanned plane of a kind of accurate identification positioning surrounding based on unmanned plane.The method of the accurate identification positioning surrounding based on unmanned plane includes: that unmanned plane is obtained according to the longitude and latitude of target to be measured and inspection height positioning surrounding line map generated；According to the positioning surrounding line map, positioning surrounding flight is carried out to the target to be measured according to default rule；During positioning surrounding flight, the capture apparatus controlled on local equipment is taken pictures and/or is imaged to the target to be measured with preset angle, to obtain the live-pictures and/or real time video data of the target to be measured.The method of the accurate identification positioning surrounding based on unmanned plane utilizes the positioning surrounding line map and the default rule, object is surveyed to the band and realizes precisely identification, and realizes positioning surrounding with measuring and control datas such as the live-pictures and/or the real time video datas that obtain the target to be measured target to be measured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle-based method for accurately identifying, positioning and surrounding and an unmanned aerial vehicle.
Background
With the development of the domestic aviation industry, the unmanned aircraft technology gradually tends to mature, updated technical methods and means are provided for power lines, public security fire fighting, land and sea patrol and the like, and for polling projects of communication towers, particularly some high mountain sites and some difficult and complicated sites in environment, the projects are often required to be short and fast, the measurement period is short, the task is heavy, the quality is high, the terrain and the landform in the area are complicated and changeable, and sometimes measurement personnel and instrument equipment cannot reach the projects. The traditional manual investigation and inspection mode is adopted, the conditions are hard, the efficiency is low, and the first-line base station investigation and inspection work occasionally encounters the risks of dog catching and snake biting.
The unmanned aerial vehicle realizes electronization, informatization and intelligent routing inspection, and improves the working efficiency, the emergency rescue level and the communication guarantee reliability of routing inspection of the communication iron tower. Meanwhile, the operation cost is greatly reduced, the lifting place is unlimited, the operation is simple, the target can be safely and conveniently approached, the operation and the maintenance can be completely owned by a transportation, inspection and maintenance unit, the operation and the maintenance can be independently completed, and the field information of the inspection target can be quickly realized. And under emergency such as torrential flood outbreak, earthquake calamity, unmanned aerial vehicle can survey and promptly investigate the potential danger of iron tower, such as the problem that the tower footing sinks, not influenced by road surface situation at all, has both removed the bitter of climbing the shaft tower from, can survey the vision dead angle of people's eye again, is very helpful to recovering communication rapidly.
Currently, there is a lack in the industry of an unmanned aerial vehicle that accurately identifies a communications tower and locates a surround for the communications tower.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle-based method for accurately identifying, positioning and surrounding and an unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for accurate identification of location surround based on drones, comprising:
the unmanned aerial vehicle acquires a positioning surrounding circuit diagram generated according to the longitude and latitude and the inspection height of a target object to be detected;
according to the positioning surrounding circuit diagram, performing positioning surrounding flight on the target object to be detected according to a preset rule;
and in the process of positioning and surrounding flight, controlling shooting equipment on the local equipment to shoot and/or pick up the target object to be detected at a preset angle so as to acquire real-time pictures and/or real-time video data of the target object to be detected.
Specifically, the target object to be detected is a communication iron tower.
Specifically, the method further comprises the following steps:
and in the process of positioning and surrounding flight, controlling remote sensing equipment on the local equipment to acquire remote sensing data of the target object to be measured at a preset angle.
Further, still include:
the method comprises the steps of obtaining positioning data of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle deviates from a route when flying around a route diagram according to the positioning data, and if so, adjusting the flying speed and the flying direction of the unmanned aerial vehicle according to the positioning data.
Specifically, the method comprises the following steps:
and receiving a control signal from the ground console, and controlling the local equipment to execute the operation corresponding to the control signal according to the control signal.
Further, still include:
transmitting to remote equipment connected with local equipment with transmission delay not more than 20ms and error rate not more than 10-6Transmitting the real-time photo and/or real-time video data.
Further, the transmitting the real-time photo and/or real-time video data employs a frequency hopping technique.
Specifically, the preset rule includes: fixed-point hovering, automatic obstacle avoidance, routing inspection autonomy and safety strategies; wherein,
the fixed-point hovering is used for stable hovering when the unmanned aerial vehicle reaches a preset hovering point of the positioning surrounding line diagram, the hovering control deviation is not more than 1.5m in the horizontal direction and not more than 0.75m in the standard deviation, and the hovering control deviation is not more than 2m in the vertical direction and not more than 1m in the standard deviation;
the automatic obstacle avoidance system is used for detecting obstacles which are positioned by the unmanned aerial vehicle and surround the flying line of the line diagram within the range of 20m when the flying speed of the unmanned aerial vehicle is not more than 5m/s, and the obstacles comprise communication wires with the diameter of more than 23.9 mm;
the inspection is autonomously used for controlling the maximum rotating angular speed of the shooting equipment at each direction, which has the rotating performance at least in the horizontal direction and the pitching direction, to be not less than 30 degrees/s;
the safety strategy is used for judging whether the unmanned aerial vehicle is in a controllable state or not according to the flight state, the communication state, the engine motor state and the battery voltage parameter of the unmanned aerial vehicle, and if not, executing a preset flight scheme and early warning external control equipment for establishing communication with the unmanned aerial vehicle.
Specifically, the method further comprises the following steps:
and constructing a three-dimensional model of the target object to be detected according to the real-time photo, the real-time video data and the remote sensing data.
In addition, the invention also provides the unmanned aerial vehicle. The unmanned aerial vehicle includes:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to, when executed by the processors, perform the steps of the drone-based fine identification location surround method described above.
Compared with the prior art, the scheme of the invention has the following advantages:
the invention relates to a method for accurately identifying, positioning and surrounding an unmanned aerial vehicle, which comprises the steps of utilizing the unmanned aerial vehicle to obtain a positioning and surrounding circuit diagram generated according to the longitude and latitude and the inspection height of a target object to be detected; according to the positioning surrounding circuit diagram, performing positioning surrounding flight on the target object to be detected according to a preset rule;
and in the process of positioning and surrounding flight, controlling shooting equipment on the local equipment to shoot and/or pick up the target object to be detected at a preset angle so as to acquire real-time pictures and/or real-time video data of the target object to be detected. The invention effectively positions and surrounds the target object to be detected, effectively obtains the real-time photo and/or real-time video data of the target object to be detected, is beneficial to judging the real-time state of the target object to be detected according to the real-time photo and/or real-time video data, and can realize the inspection and monitoring of the target object to be detected without manpower.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of an embodiment of a method for accurately identifying, positioning and surrounding based on an unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides an unmanned aerial vehicle-based method for accurately identifying, positioning and surrounding and an unmanned aerial vehicle, aiming at the problems of the current survey and inspection work of a communication iron tower, such as complex and changeable terrain and landform in an area and incapability of reaching measuring personnel and instrument equipment sometimes.
It can be understood that the scheme of the invention not only can be used for the survey and inspection work of the communication iron tower, but also can be used for obtaining the measurement data of telegraph poles, sails, lighthouses, buildings and the like.
In order to make the technical scheme of the present invention more clear and easier to understand, the following description and explanation are given by taking the object to be measured as a communication tower.
Fig. 1 shows a method for identifying and positioning a surround accurately based on a drone in the present invention. The method for accurately identifying and positioning the surrounding based on the unmanned aerial vehicle comprises the steps of S101, S102 and S103.
Wherein, step S101: the unmanned aerial vehicle acquires a positioning surrounding circuit diagram generated according to the longitude and latitude and the inspection height of a target object to be detected;
step S102: according to the positioning surrounding circuit diagram, performing positioning surrounding flight on the target object to be detected according to a preset rule;
step S103: and in the process of positioning and surrounding flight, controlling shooting equipment on the local equipment to shoot and/or pick up the target object to be detected at a preset angle so as to acquire real-time pictures and/or real-time video data of the target object to be detected.
The invention relates to a method for accurately identifying, positioning and surrounding an unmanned aerial vehicle, which comprises the steps of utilizing the unmanned aerial vehicle to obtain a positioning and surrounding circuit diagram generated according to the longitude and latitude and the inspection height of a target object to be detected; according to the positioning surrounding circuit diagram, performing positioning surrounding flight on the target object to be detected according to a preset rule;
and in the process of positioning and surrounding flight, controlling shooting equipment on the local equipment to shoot and/or pick up the target object to be detected at a preset angle so as to acquire real-time pictures and/or real-time video data of the target object to be detected. The invention effectively positions and surrounds the target object to be detected, effectively obtains the real-time photo and/or real-time video data of the target object to be detected, is beneficial to judging the real-time state of the target object to be detected according to the real-time photo and/or real-time video data, and can realize the inspection and monitoring of the target object to be detected without manpower.
In order to facilitate understanding of the scheme of the present invention, specific implementation processes of the steps of the scheme of the present invention are described in detail and specifically below.
Step S101: the unmanned aerial vehicle acquires a positioning surrounding circuit diagram generated according to the longitude and latitude and the inspection height of the target object to be detected.
Specifically, the target object to be detected is a communication iron tower.
For routing inspection projects of communication towers, particularly for some alpine sites and some difficult and complicated environment sites, the projects are often required to be short, flat and fast, the measurement period is short, the tasks are heavy, the quality is high, the terrain and the landform in the area are complex and changeable, and sometimes measurement personnel and instrument equipment cannot reach the projects. Therefore, the problem that measuring personnel and instrument equipment cannot reach can be solved by using the unmanned aerial vehicle. However, the unmanned aerial vehicle is used for replacing manpower to realize reconnaissance and inspection on the communication iron tower, and how to ensure that the unmanned aerial vehicle can carry out accurate and effective measurement on the communication iron tower is a technical problem to be solved.
As is known, drones are unmanned aircraft that operate using radio remote control devices and self-contained program control devices.
In the embodiment of the invention, the unmanned aerial vehicle is provided with a signal transceiver capable of realizing signal transceiving, and the signal transceiver establishes a data connection link with external remote control equipment (such as a ground console) and the like, so as to acquire a control instruction from the remote control equipment, data information sent to the unmanned aerial vehicle by other external equipment and transmit the data information acquired by the local equipment back to the external equipment establishing a data link connection with the local equipment.
Specifically, the method comprises the following steps:
the unmanned aerial vehicle receives a control signal from the ground console and controls the local equipment to execute the operation corresponding to the control signal according to the control signal.
In this embodiment, the ground control platform mainly used unmanned aerial vehicle flight in-process flight state's monitoring and control, the navigation of flight, functions such as control of sensor data acquisition mode, can also carry out preliminary treatment to the data that the flight obtained in addition. The unmanned aerial vehicle end can receive the control signal from the ground control panel, carry out corresponding control operation according to the control signal.
The data link between the unmanned aerial vehicle end and the ground control station is established, so that the data communication between the ground control station and the unmanned aerial vehicle flight platform is guaranteed, and particularly the reliable communication between the unmanned aerial vehicle and the ground is guaranteed in environments with severe communication conditions such as mountainous areas with complex terrain.
The establishment of the data link effectively ensures the real-time downloading of the data of the unmanned aerial vehicle and the uploading of the control command so as to complete the tracking and control of the working state of the unmanned aerial vehicle. The transmission rate of data link customizes according to actual demand, generally under 4Mbps ~ 8 Mbps's rate, can realize real-time picture data and real-time video data's real-time download, makes ground measurement and control personnel directly perceived know the flight scene condition, helps measurement and control personnel to encircle the flight state of adjusting unmanned aerial vehicle to communication tower location according to unmanned aerial vehicle to guarantee based on the validity of unmanned aerial vehicle's accurate discernment location method of encircleing with the degree of accuracy.
Meanwhile, the unmanned aerial vehicle in the embodiment is equipped with shooting equipment such as a high-definition digital video camera and a camera, and a GPS positioning system. In another embodiment, the high-definition digital video camera and the camera may be integrated into the drone in a module. The invention uses the shooting equipment and the GPS positioning system to form an unmanned aerial vehicle aerial shooting surveying and mapping system which can surround a communication iron tower for positioning and cruising so as to transmit the shooting image in real time,
the communication tower is a fixed building with a definite longitude and latitude. When communication tower communication fault and other problems occur or daily reconnaissance and routing inspection are carried out, which part of the communication tower needs to be reconnaissance and inspection is judged in advance, and therefore the routing inspection height of the communication tower is determined. And a positioning surrounding circuit diagram for positioning and surrounding the communication tower by the unmanned aerial vehicle can be generated by utilizing the longitude and latitude and the inspection height of the communication tower.
The unmanned aerial vehicle can fly along the route track corresponding to the positioning surrounding route map according to the positioning surrounding route map, and in the flying process, the shooting equipment and the remote sensing equipment on the unmanned aerial vehicle are controlled to obtain real-time photo data, video data and remote sensing data of the communication tower. The unmanned aerial vehicle flies along the line track of the positioning surrounding line graph, can hover on the line track, and receives an operation instruction of the ground console to execute corresponding operation.
The positioning surrounding line graph can be generated by external equipment which is sent to an unmanned aerial vehicle end, or generated on local equipment by the unmanned aerial vehicle end which receives data such as the longitude and latitude, the routing inspection height and the like of a communication tower.
Step S102: and according to the positioning surrounding circuit diagram, performing positioning surrounding flight on the target object to be detected according to a preset rule.
After the positioning surrounding circuit diagram is generated at the unmanned aerial vehicle end, the unmanned aerial vehicle can enter the circuit track corresponding to the positioning surrounding circuit diagram by using a GPS (global positioning system) positioning system on the unmanned aerial vehicle after the unmanned aerial vehicle is tested before the unmanned aerial vehicle takes off, flies along the circuit track and executes corresponding shooting operation.
In the process of positioning and surrounding the unmanned aerial vehicle according to the positioning and surrounding route map, the unmanned aerial vehicle may follow the following preset rules. It is understood that the preset rule can be implemented by the corresponding integrated circuit module and the preset control instruction. The rule is set up so that the unmanned aerial vehicle can better realize positioning surrounding of the communication tower, and the high efficiency and stability of the positioning surrounding of the communication tower to obtain relevant measurement data are guaranteed.
Specifically, the preset rule includes: fixed-point hovering, automatic obstacle avoidance, routing inspection autonomy and safety strategies; wherein,
1) and hovering the fixed point. In this embodiment, the drone has a nose redirection function. The positioning surrounding circuit diagram is provided with suspension points, and the unmanned aerial vehicle can stably hover without intervention of operators after reaching a preset suspension point through a full-autonomous flight mode or reaching a specified point through a manual or stability-increasing flight mode. The hover control deviation is controlled to be not greater than 1.5m in the horizontal direction and not greater than 0.75m in standard deviation, and not greater than 2m in the vertical direction and not greater than 1m in standard deviation.
2) And (5) automatically avoiding obstacles. In the embodiment, the automatic obstacle avoidance is used for detecting that the unmanned aerial vehicle locates obstacles around the periphery of the flight line of the circuit diagram within 20m when the flight speed of the unmanned aerial vehicle is not more than 5m/s, and the obstacles comprise communication wires with the diameter larger than 23.9 mm.
3) And 6, routing inspection is independent. In the embodiment, the inspection tour master is used for controlling the maximum rotating angular speed of the shooting device and the remote sensing device in each direction at least having rotating performance in horizontal and pitching directions to be not less than 30 degrees/s. By utilizing the patrol autonomous rule, the unmanned aerial vehicle adjusts the shooting equipment and the remote sensing equipment on the communication tower in the positioning and surrounding process of the communication tower so as to effectively acquire real-time pictures, videos and remote sensing data of the communication tower.
4) And (4) security policy. The safety strategy is used for judging whether the unmanned aerial vehicle is in a controllable state or not according to the flight state, the communication state, the engine motor state and the battery voltage parameter of the unmanned aerial vehicle, and if not, executing a preset flight scheme and early warning external control equipment for establishing communication with the unmanned aerial vehicle.
Further, in the process that the unmanned aerial vehicle positions the encirclement according to the positioning encirclement line diagram, the method further comprises the following steps:
and acquiring a one-key return command sent by the external equipment to the local equipment, and immediately stopping the current task and returning the current task after starting the one-key return function. The parameters of the return waypoints, the speed and the like can be preset, and the number of the settable waypoints is not less than 10.
It can be understood that, in the process of positioning and surrounding the communication tower by the unmanned aerial vehicle along the positioning and surrounding route map, the data link established between the unmanned aerial vehicle and the ground console is prone to be interrupted due to weather, terrain, data signals and the like. Obviously, after the data link is interrupted, the ground console loses control of the drone, and the drone is in a non-control state at this time.
In the invention, the method for accurately identifying, positioning and surrounding based on the unmanned aerial vehicle further comprises the following steps:
confirming data link interruption information established between the current unmanned aerial vehicle and the ground control console;
and starting a link interruption return function on the unmanned aerial vehicle according to the link interruption information.
For example, after the link is broken, the drone hovers for the communication signal to resume, and the waiting time may be preset. If the communication signal is recovered in the waiting time, the unmanned aerial vehicle can continue to execute the task, otherwise, the unmanned aerial vehicle returns according to the preset route. The parameters of the return waypoints, the speed and the like can be preset, and the number of the settable waypoints is not less than 10.
Further, still include:
the method comprises the steps of obtaining positioning data of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle deviates from a route when flying around a route diagram according to the positioning data, and if so, adjusting the flying speed and the flying direction of the unmanned aerial vehicle according to the positioning data.
Because it is right at unmanned aerial vehicle communication tower carries out the in-process that the location encircleed, it has the skew to fix a position the possibility of encircleing the circuit orbit that the circuit diagram corresponds, consequently, this embodiment is in order to guarantee that unmanned aerial vehicle does not deviate the route, and then guarantees that unmanned aerial vehicle encircles to communication tower's accurate discernment location, its real-time acquisition unmanned aerial vehicle's location data, and compare unmanned aerial vehicle's location data with when the circuit orbit that circuit diagram corresponds is encircleed in the location takes place to deviate, in time send control command through the ground console in order to adjust unmanned aerial vehicle's flight orbit or unmanned aerial vehicle self according to the flight state of skew data.
Step S103: and in the process of positioning and surrounding flight, controlling shooting equipment on the local equipment to shoot and/or pick up the target object to be detected at a preset angle so as to acquire real-time pictures and/or real-time video data of the target object to be detected.
Specifically, the method further comprises the following steps:
and in the process of positioning and surrounding flight, controlling remote sensing equipment on the local equipment to acquire remote sensing data of the target object to be measured at a preset angle.
The unmanned aerial vehicle is used for positioning and surrounding the target object to be measured, namely the communication iron tower, so as to obtain the relevant measurement data of the communication iron tower. Therefore, it is necessary to control the shooting device and the remote sensing device to acquire picture data, video data and remote sensing data of the communication tower.
The invention adopts the stereopair technology of the aerial photo. For example, the course overlay control is between 55% and 65%, at least 50%, and typically 60%, and the side overlay control is approximately 30%. The overlapping of the shots means that the same object is photographed at different positions at a distance. The presence of parallax may constitute a stereo pair and a stereo model may be further obtained.
It can be understood that the measured portion of the communication tower is not necessarily in the same plane as the route track corresponding to the positioning surrounding route map, and in this embodiment, the shooting angles of the shooting device and the remote sensing device on the unmanned aerial vehicle can be adjusted. Meanwhile, the shooting angle thereof may be preset. And if so, controlling the shooting equipment to shoot the communication tower at a preset angle of 30 degrees in the horizontal plane.
The unmanned aerial vehicle carrying shooting equipment and the remote sensing equipment in the invention can comprise: optical digital cameras, thermal infrared imagers, ultraviolet imagers, laser scanners, and the like. It should be understood that the optical digital camera, thermal infrared imager, ultraviolet imager, laser scanner, etc. may be integrated into the drone body to be integral therewith.
The optical digital camera is used for acquiring optical images of towers, communication leads and power line corridors and diagnosing defects and hidden dangers such as pin loss, hardware corrosion loss and the like; the thermal infrared imager is used for collecting infrared videos of a communication iron tower and line equipment thereof and acquiring abnormal conditions of equipment such as hardware fittings, optical cables and insulators; the ultraviolet imager is used for collecting ultraviolet video information of communication iron tower equipment and for detecting the abnormality of hardware fittings and communication cables; the laser scanner is used for acquiring high-precision point cloud data of a communication cable corridor ground object, can detect the data such as the overall height of a communication iron tower, the platform height, the number of antennas, the cable wiring distance and the like, and generates a real three-dimensional model of a line corridor.
Further, still include:
transmitting to remote equipment connected with local equipment with transmission delay not more than 20ms and error rate not more than 10-6Transmitting the real-time photo and/or real-time video data.
Further, the transmitting the real-time photo and/or real-time video data employs a frequency hopping technique.
In addition, as shown in fig. 2, the present invention also provides an unmanned aerial vehicle, which includes:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to, when executed by the processors, perform the steps of the drone-based fine identification location surround method described above.
The memory 10 may be used for storing software programs and modules, and the processor 20 executes various functional applications and data processing of the recognition system by operating the software programs and modules stored in the memory 10. The memory 10 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the recognition system, and the like. Further, the memory 10 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 20 is a control center of the positioning apparatus, connects various parts of the entire server using various interfaces and lines, and performs various functions of the positioning apparatus and processes data by running or executing software programs and/or modules stored in the memory 10 and calling data stored in the memory 10, thereby performing overall monitoring of the positioning apparatus. Alternatively, processor 20 may include one or more processing units; preferably, the processor 20 may integrate an application processor, which primarily handles operating systems, user interfaces, application programs, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 20.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for accurately identifying and positioning encirclement based on an unmanned aerial vehicle is characterized by comprising the following steps:
the unmanned aerial vehicle acquires a positioning surrounding circuit diagram generated according to the longitude and latitude and the inspection height of a target object to be detected;
according to the positioning surrounding circuit diagram, performing positioning surrounding flight on the target object to be detected according to a preset rule;
and in the process of positioning and surrounding flight, controlling shooting equipment on the local equipment to shoot and/or pick up the target object to be detected at a preset angle so as to acquire real-time pictures and/or real-time video data of the target object to be detected.
2. The unmanned aerial vehicle-based precise identification and positioning encirclement method according to claim 1, wherein the target object to be measured is a communication tower.
3. The unmanned aerial vehicle-based precise identification and positioning surround method according to claim 1, further comprising:
and in the process of positioning and surrounding flight, controlling remote sensing equipment on the local equipment to acquire remote sensing data of the target object to be measured at a preset angle.
4. The unmanned aerial vehicle-based precise identification and positioning surround method according to claim 1, further comprising:
the method comprises the steps of obtaining positioning data of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle deviates from a route when flying around a route diagram according to the positioning data, and if so, adjusting the flying speed and the flying direction of the unmanned aerial vehicle according to the positioning data.
5. The unmanned aerial vehicle-based precise identification and positioning surround method according to claim 1, comprising:
and receiving a control signal from the ground console, and controlling the local equipment to execute the operation corresponding to the control signal according to the control signal.
6. The unmanned aerial vehicle-based precise identification positioning surround method according to claim 5, further comprising:
transmitting to remote equipment connected with local equipment with transmission delay not more than 20ms and error rate not more than 10-6Transmitting the real-time photo and/or real-time video data.
7. The method for unmanned aerial vehicle-based precise identification and location surround of claim 6, wherein the transmitting the real-time photo and/or real-time video data employs a frequency hopping technique.
8. The unmanned aerial vehicle-based precise identification and positioning surround method according to claim 1, wherein the preset rules comprise: fixed-point hovering, automatic obstacle avoidance, routing inspection autonomy and safety strategies; wherein,
the fixed-point hovering is used for stable hovering when the unmanned aerial vehicle reaches a preset hovering point of the positioning surrounding line diagram, the hovering control deviation is not more than 1.5m in the horizontal direction and not more than 0.75m in the standard deviation, and the hovering control deviation is not more than 2m in the vertical direction and not more than 1m in the standard deviation;
the automatic obstacle avoidance system is used for detecting obstacles which are positioned by the unmanned aerial vehicle and surround the flying line of the line diagram within the range of 20m when the flying speed of the unmanned aerial vehicle is not more than 5m/s, and the obstacles comprise communication wires with the diameter of more than 23.9 mm;
the inspection is autonomously used for controlling the maximum rotating angular speed of the shooting equipment at each direction, which has the rotating performance at least in the horizontal direction and the pitching direction, to be not less than 30 degrees/s;
the safety strategy is used for judging whether the unmanned aerial vehicle is in a controllable state or not according to the flight state, the communication state, the engine motor state and the battery voltage parameter of the unmanned aerial vehicle, and if not, executing a preset flight scheme and early warning external control equipment for establishing communication with the unmanned aerial vehicle.
9. The unmanned aerial vehicle-based precise identification positioning surround method according to claim 3, further comprising:
and constructing a three-dimensional model of the target object to be detected according to the real-time photo, the real-time video data and the remote sensing data.
10. An unmanned aerial vehicle, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to, when executed by the processors, perform the steps of the drone-based fine identification location wrapping method of claims 1-9.
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