CN109029422A - A kind of method and apparatus of the three-dimensional investigation map of multiple no-manned plane cooperation building - Google Patents
A kind of method and apparatus of the three-dimensional investigation map of multiple no-manned plane cooperation building Download PDFInfo
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- CN109029422A CN109029422A CN201810753172.4A CN201810753172A CN109029422A CN 109029422 A CN109029422 A CN 109029422A CN 201810753172 A CN201810753172 A CN 201810753172A CN 109029422 A CN109029422 A CN 109029422A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Abstract
The present invention provides a kind of three-dimensional map construction method, device, system and its electronic equipment and computer readable storage medium based on multiple no-manned plane, at least two map datums with environmental survey data acquired in flight course the method includes obtaining at least two unmanned planes；Based at least two map datum, the three-dimensional investigation map with the environmental survey data of fusion is generated.The present invention perceives trees and environmental data information around itself by multiple unmanned planes, to construct the three-dimensional map of enhanced.Wherein each unmanned plane independently constructs map and completes the investigation of corresponding region, the three-dimensional map information of each unmanned plane is carried out fusion treatment by background server end simultaneously, and fused map is shared by the information exchange between background server and each unmanned plane, different unmanned planes are avoided to carry out repeating detection to same a part, guarantee system can complete the three-dimensional map building of entire zone of ignorance as early as possible.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control fields, and in particular to a kind of side of the three-dimensional investigation map of multiple no-manned plane cooperation building
Method and device.
Background technique
With the continuous development of science and technology, unmanned air vehicle technique becomes better and approaching perfection day by day, collection artificial intelligence, autonomous flight, at signal
A variety of core technologies such as reason, are all widely applied in all trades and professions, in addition to imaging skill using it in field of traffic
Art carries out the monitoring of real-time road, and uses unmanned plane for investigating situation and interference, destroying other than target in military field
The exploration for carrying out tera incognita just becomes an emerging direction.
In forest industry, carrying out detection to forest is an important job, forest data are acquired, are handled,
It predicts the processing such as forest reserves, is of great significance to forest management and ecological monitoring.Unmanned plane is used in forest field of detecting
Carry out the acquisition of forest data, handle, be a kind of efficient method, unmanned plane is easier to dispose compared to satellite, and telemetering away from
From close, measurement accuracy is high.Therefore, gradually occur the various methods and practice that forest detection is carried out using unmanned plane in industry.
The methods for carrying out forest environment detection using unmanned plane most of at present, need the environment by GPS information and shooting
Image information blends, and carries out the positioning and navigation of unmanned plane.But in the detection of actual forest, aircraft may be needed in tree crown
Lower flight, GPS signal can not provide location information or even GPS signal by unmanned plane and can be blocked by tree crown at this time, lead to signal
The location information of unmanned plane can not be obtained by being interfered.GPS information can not also provide obstacle information simultaneously；In addition, if making
Forest survey is carried out with a unmanned plane, since electric power continuation of the journey is limited and since trees barrier makes unmanned plane quick
Flight, so that extensive forest investigation is difficult to be rapidly completed.
Summary of the invention
In view of the above-mentioned problems, the present invention provides method, apparatus, electronics that a kind of multiple no-manned plane constructs three-dimensional investigation map
Equipment and computer readable storage medium, by self-determination cooperation between multiple unmanned planes complete zone of ignorance it is complete dimensionally
The building of figure.
The first aspect of the present invention provides a kind of method of three-dimensional investigation map of multiple no-manned plane cooperation building, comprising:
Obtain at least two map numbers with environmental survey data that at least two unmanned planes acquire in flight course
According to；
Based at least two map datum, the three-dimensional investigation ground with the environmental survey data of fusion is generated
Figure.
In some embodiments, the environmental survey data are forest environment survey data, and the three-dimensional investigation map is
Show the three-dimensional map of trees and environmental information in wood land.
In some embodiments, further includes: based on the three-dimensional investigation map for having generated fusion, each unmanned plane of real-time judge
Whether the map datum of acquisition has generated the three-dimensional investigation map that merges there are laps with described；If there is overlapping portion
Point, then the instruction in change of flight direction is sent to corresponding unmanned plane.
In some embodiments, the judgement of the lap includes: the map datum for extracting each unmanned plane acquisition
Multiple characteristic point informations are judged as if if having generated the three-dimensional investigation map merged there are multiple identical characteristic point informations
There are laps；And/or the relative position information of each unmanned plane Yu common point reference point is compared, if with having generated
Relative position information in the three-dimensional investigation map of fusion is identical, then is judged as that there are laps.
In some embodiments, the flying height of the unmanned plane is included on tree crown and/or under tree crown.
In some embodiments, the unmanned plane obtains air information, the air information packet on tree crown when flight
Include at least one in elevation information, information, geographical location information, hat width information and the canopy point cloud density information of trees
It is a；The unmanned plane obtains terrestrial information under tree crown when flight, the terrestrial information include diameter information below trees,
At least one of the straight degree information of circle, information, density information and geographical location information.
It in some embodiments, further include that cross validation is carried out based on the air information and terrestrial information.
In some embodiments, described to be based at least two map datums, generate fusion has the environmental survey number
According to three-dimensional investigation map the step of include: to be merged at least two map datum by determining fusion basic point,
The fusion basic point refers at least two map is unified to the reference point under the same coordinate system.
In some embodiments, the reference point includes absolute coordinate point and/or the reference substance for possessing unique identification.
In some embodiments, described that at least two map datum is carried out by fusion packet by determining fusion basic point
It includes:
The orientation and mileage information relative to the fusion basic point for determining each unmanned plane during flying, according to the side
Position and mileage information carry out the fusion of at least two map datum.
In some embodiments, when the difference of the flying height of at least two unmanned plane is less than the first given threshold,
And the distance between described at least two unmanned plane less than the second given threshold when, send change of flight direction instruction so that
At least one unmanned plane change of flight direction.
In some embodiments, make when the difference of the flying height of at least two unmanned plane is greater than third given threshold
It is identical in the floor coordinate of synchronization to obtain at least unmanned plane.
In some embodiments, when the temperature and/or smog of temperature and/or the gas sensor acquisition of the unmanned plane
When data are more than four given thresholds, the map datum includes the location position information and/or warning message of the unmanned plane.
The second aspect of the present invention provides a kind of device of three-dimensional investigation map of multiple no-manned plane cooperation building, comprising:
Map datum obtains module, has environmental survey for obtains that at least two unmanned planes acquire in flight course
At least two map datums of data；
Three-dimensional investigation map merges generation module, for having generated the band of fusion based at least two map datum
State the three-dimensional investigation map of environmental survey data.
It in some embodiments, further include three-dimensional investigation map overlapping judgment module, for based on having generated the three of fusion
Dimension investigation map, the map datum of real-time judge each unmanned plane acquisition whether with the three-dimensional investigation map for having generated and having merged
There are laps.
It in some embodiments, further include instruction control module, for sending the instruction of heading to unmanned plane.
In some embodiments, further include alarm module, acquired when the temperature and/or gas sensor of the unmanned plane
When temperature and/or smoke data are more than four given thresholds, the alarm module is sounded an alarm, and alarm includes location position information
And/or warning message.
The third aspect of the present invention provides a kind of electronic equipment, including one or more processors；Storage device is used for
Store one or more programs；When one or more of programs are executed by one or more of processors, so that described one
A or multiple processors realize any of the above-described method.
The fourth aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with the executable finger of computer
It enables, when the computer executable instructions are executed by a computing apparatus, is operable to execute any of the above-described method.
In conclusion the present invention provides a kind of three-dimensional map construction method, device, electronic equipment based on multiple no-manned plane
And computer readable storage medium, the method includes what at least two unmanned planes of acquisition acquired in flight course to have environment
At least two map datums of survey data；Based at least two map datum, generate fusion has the environment tune
Look into the three-dimensional investigation map of data.The invention proposes one kind to complete zone of ignorance three by self-determination cooperation between multiple unmanned planes
The method for tieing up map structuring, perceives trees and environmental data information around itself by multiple unmanned planes, to construct enhanced
Three-dimensional map.Wherein each unmanned plane independently constructs map and completes the investigation of corresponding region, while background server
The three-dimensional map information of each unmanned plane is carried out fusion treatment by end, and passes through the letter between background server and each unmanned plane
Fused map is shared in breath interaction, and different unmanned planes is avoided to carry out repeating detection to same a part, guarantees that system can be complete as early as possible
It is constructed at the three-dimensional map of entire zone of ignorance.
Above-mentioned technical proposal of the invention has following beneficial technical effect:
1, in the detection process that unmanned plane carries out forest environment, the planning for carrying out the line of flight in advance is not needed, nobody
Machine is independently completed to keep in obscurity and fly；
2, during multiple unmanned planes carry out three-dimensional map building, the automatic phase for detecting the building of any two unmanned plane
Same region, and change corresponding heading automatically, the wasting of resources is reduced, completes entire zone of ignorance three-dimensional map as early as possible
Building；
3, the detection by more unmanned planes from different perspectives obtains the stereoscopic survey information and three-dimensional map of forest.
Detailed description of the invention
Fig. 1 is the method flow block diagram of the three-dimensional investigation map of present invention building；
Fig. 2 is the flow diagram of unmanned plane acquisition map datum of the present invention；
Fig. 3 is the flow diagram that three-dimensional investigation map fusion of the invention generates；
Fig. 4 is the flow diagram of the path planning of the three-dimensional investigation map the present invention is based on fusion；
Fig. 5 is the device block diagram of the three-dimensional investigation map of present invention building；
Fig. 6 is the device block diagram of the three-dimensional investigation map of building shown in a specific embodiment of the invention；
Fig. 7 is a kind of overall structure block diagram of the system of the three-dimensional investigation map of multiple no-manned plane cooperation building of the present invention.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Technical solution of the present invention, which can be applied, is carrying out three-dimensional map building side to tera incognitas such as high risk, high intensity
Face.Specifically, technical solution of the present invention carries out the exploration of forest situation mainly for unknown wood land, pass through multiple nothings
The three-dimensional investigation map structuring of whole region is completed in cooperation between man-machine, and the three-dimensional investigation map of building can clearly react
The concrete condition of trees and environment in the region.
The first aspect of the present invention provides a kind of method 100 of three-dimensional investigation map of multiple no-manned plane cooperation building, such as schemes
Shown in 1, include the following steps:
Step 101 obtains at least two with environmental survey data that at least two unmanned planes acquire in flight course
A map datum.
The unmanned plane specifically include that flight control units, information acquisition unit, information identificating unit, storage unit and
Information transmission unit.The flight control units control itself according to the location information of unmanned plane and the depth information of forest environment
It carries out barrier and evades the planning with flight path.The depth information of the forest environment include the specific types of trees, diameter,
Highly, hat width etc..The information acquisition unit includes range sensor (such as: laser radar, millimetre-wave radar), visual sensing
Device (such as: monocular cam, binocular camera shooting head), inertial sensor (including gyroscope and accelerometer) and temperature, gas pass
Sensor etc. obtains ambient parameters data and own location information according to each sensor.For example, passing through visual sensing
Device acquires the image data around unmanned plane, peripheral obstacle is acquired by range sensor believes at a distance from unmanned plane
Breath, unmanned plane during flying posture information is obtained by inertial sensor.Such as laser radar can receive object in tested region again
Body obtains three dimensional point cloud (including the x, y, z three-dimensional coordinate of tested region according to back wave to the back wave of radar signal
Value)；Binocular camera can capture the image information of trees and carry out ranging to trees by way of binocular ranging；Gyro
The angular velocity information of the available unmanned plane during flying of instrument, accelerometer obtain the acceleration information of unmanned plane during flying.By the biography
The data that sensor obtains carry out fusion treatment and obtain the mileage and directional information of the unmanned plane during flying.The information identificating unit pair
Laser radar and visual sensor are demarcated and are calibrated, and enable the point cloud data of visual sensor and laser radar right
Together, the ambient enviroment image data and range data obtained based on sensor, identify the depth information of environment, according to trees
Spatial position and depth information generate the enhanced three-dimensional map information with the specific growing state of trees and trees and nobody
The relative position information of machine.The storage unit is for storing information acquisition unit and information identificating unit data obtained.
Information transmission unit is responsible for the information exchange in whole system between different unmanned planes between unmanned plane and backstage earth station.
Unmanned plane with above-mentioned each unit completed in flight course barrier evade and independent navigation, while
The identification of the space three-dimensional map and barrier of ambient enviroment is constantly established during flight, and completes unmanned plane letter
The interaction of breath and earth station.And the unmanned plane of the three-dimensional investigation map of building includes at least two, each unmanned plane acquisition pair
The map datum of Ying Yuqi flight course.
Step 102 is based at least two map datum, generates the three-dimensional with the environmental survey data of fusion
Investigate map.
The master that fusion generates the three-dimensional investigation map with environmental survey data is carried out at least two map datum
Body is earth station.The earth station specifically includes that data storage cell, data processing unit, information transmission unit and control
Unit.The three-dimensional map information for the unmanned plane transmission that the data processing unit receives the information transmission unit and forest
Survey information is merged and is handled, and is completed the three-dimensional investigation map structuring of entire zone of ignorance and is stored in data storage list
The case where member, control unit is completed according to three-dimensional investigation map, sends control instruction to above-mentioned unmanned plane.
In a specific embodiment of the invention, the environmental survey data are forest environment survey data, the three-dimensional
Investigation map is the three-dimensional map for showing trees and environmental information in wood land；But it is not limited to the tune of wood land
It looks into, the building of three-dimensional investigation map can be carried out using method of the invention to any band of position.
In a specific embodiment of the invention, the method also includes following steps: based on the three-dimensional for having generated fusion
Map is investigated, whether the map datum of each unmanned plane acquisition of real-time judge is deposited with the three-dimensional investigation map merged that generated
In lap；If there is lap, then the instruction in change of flight direction is sent to corresponding unmanned plane.The number of earth station
Store the fused whole system institute of three-dimensional map information and backstage earth station of different unmanned plane buildings simultaneously according to storage unit
The three-dimensional map information of acquisition needs ground in order to avoid part of any two unmanned plane to the same area carries out repeating flight
The three-dimensional map information and fused three-dimensional map information of each unmanned plane building of face station real-time detection whether there is overlapping portion
Divide, if it exists lap, then automatic trigger control unit sends the instruction in change of flight direction extremely by information transmission unit
Corresponding unmanned plane.
The judgement of the lap includes: the multiple characteristic point informations for extracting the map datum of each unmanned plane acquisition,
If being judged as that there are laps if having generated the three-dimensional investigation map merged there are multiple identical characteristic point informations；
And/or the relative position information of each unmanned plane Yu common point reference point is compared, such as set common reference for earth station
Point, if identical as the relative position information in the three-dimensional investigation map for having generated fusion, if coordinate information (x, y) is identical, then
It is judged as that there are laps.
When completing the three-dimensional investigation map structuring of whole region, send return the instruction of flight starting point to it is described nobody
Machine, described instruction can be issued by the control unit of earth station.
In a specific embodiment of the invention, the flying height of the unmanned plane is included on tree crown and/or is setting
Under hat, that is, it is divided into airflight and ground flying.Aerial and ground can be multiple or a unmanned plane.Airflight
Refer to that unmanned plane flies on the canopy of trees, unmanned plane obtains air information, the aerial letter on tree crown when flight
In elevation information, information, geographical location information, hat width information and canopy point cloud density information of the breath including trees at least
One；Ground flying refers to that unmanned plane flies under the canopy of trees, and the unmanned plane obtains when flight under tree crown
Terrestrial information, the terrestrial information include the straight degree information of diameter information, circle, information, density information and the ground below trees
Manage at least one of location information.The map datum between map datum fusion, ground unmanned plane between aerial unmanned plane
It merges consistent with the above method.The ground that earth station constructs aerial and ground unmanned plane according to geographical location information and characteristic matching
Diagram data and survey data are merged.Under tree crown when flight, the ground with environmental survey data of the unmanned plane acquisition
The step of diagram data includes: to carry out avoidance flight by sensor, while passing through sensor acquisition obstacle information and described
Face information, to construct the map datum.
As shown in Fig. 2, giving the three-dimensional investigation map structuring process 200 for the unmanned plane that one is flown under tree crown, packet
Include following steps:
Step 201, unmanned plane carry out avoidance flight by sensor；
Step 202 acquires obstacle information building map datum by sensor；
Step 203, unmanned plane complete the forest survey data in flight path by sensor, for example, to flight path
In the types of trees, the diameter of a cross-section of a tree trunk 1.3 meters above the ground, the information such as the straight degree of circle are investigated；
Step 204, unmanned plane merge survey data with map datum, obtain three-dimensional investigation map.
In a specific embodiment of the invention, the method also includes being carried out based on the air information and terrestrial information
Cross validation, with the accuracy and authenticity of the three-dimensional investigation map datum for ensuring to construct.
In a specific embodiment of the invention, described to be based at least two map datums, it is described to generate having for fusion
The step of three-dimensional investigation map of environmental survey data includes: by determining fusion basic point by least two map datum
It is merged, the fusion basic point refers at least two map is unified to the reference point under the same coordinate system.It is described
Reference point includes absolute coordinate point and/or the reference substance for possessing unique identification.Described the step of being merged includes: to each nothing
The map datum of man-machine acquisition carries out feature extraction, and the overlapping region that feature is overlapped is merged；Each unmanned plane is acquired
Map datum be spliced to form complete three-dimensional investigation map.Same geo-location reference point is set, is determined described each
The orientation and mileage information relative to the geo-location reference point of unmanned plane during flying, according to the orientation and mileage information into
The fusion of row map datum.
As shown in figure 3, giving the building process 300 of fusion map, include the following steps:
Step 301, base-station or a certain unmanned plane obtain the first investigation map, since the investigation map lacks absolute seat
Mark, therefore only include independent coordinate and content；
Step 302, base-station or a certain unmanned plane obtain the second investigation map, which gathers around with the first investigation map
There are independent coordinate and content；
Step 303 determines the fusion basic point for merging the first investigation map and the second investigation map；
Two maps are completed fusion by determining fusion basic point by step 304, base-station or a certain unmanned plane.
The fusion basic point refers to a certain can be used in two maps unifications to the reference point under the same coordinate system.The reference
Point can be an absolute coordinate point, be also possible to possess the reference substance of unique identification.For example, unmanned plane passage path is planned,
A certain opening is flown into, and then obtains accurate GPS coordinate.At this point, the map of the unmanned plane just has one absolutely
Pair reference point.Second unmanned plane also obtains an absolute reference point by identical method.Based on two reference points, two
A investigation map completes fusion.Again alternatively, two unmanned planes take off in same position, and it is as a reference point using a trees.
Unmanned plane identifies same trees by sensor, and using the trees as fusion basic point.Base-station or a certain unmanned plane are based on
The fusion basic point merges two investigation maps.By above method, system can be carried out any more investigation map
Fusion, and then obtain the investigation map completed by the collaboration of multiple unmanned planes.
In a specific embodiment of the invention, the unmanned plane is flown according to the three-dimensional investigation map for having generated fusion
Walking along the street diameter carries out path planning.Fig. 4 gives the process 400 of path planning of the multiple no-manned plane based on fusion map, including as follows
Step:
Step 401, unmanned plane carry out avoidance flight by sensor；
Step 402, the three-dimensional investigation map merged according to the investigation map that each unmanned plane obtains；
Step 403 advises the flight path of the unmanned plane according to the three-dimensional investigation map for having generated fusion again
It draws.
Purpose in the present invention using multiple no-manned plane is to accelerate the investigation speed to extensive forest region.Therefore, exist
Initial stage, each unmanned plane carry out autonomous path planning.The fusion and expansion for investigating map generated with multiple unmanned planes,
Each unmanned plane can carry out path planning according to fusion map.For example, the planning based on fusion map can make multiple nothings
It is man-machine to be absorbed in the flight of the region of uncompleted survey, while multiple unmanned planes being avoided to investigate repeat region.
In a specific embodiment of the invention, the method also includes judging whether the three-dimensional investigation map is complete
Step obtains the range of the map datum consecutive frame image data variation of unmanned plane acquisition by way of machine learning, according to
First given threshold of the map datum setting consecutive frame image data variation of history, when the map number for detecting unmanned plane acquisition
When being more than first given threshold according to variation, the instruction in change of flight direction is sent to the unmanned plane.
Multiple no-manned plane cooperation building three of the invention is described and further illustrated below by way of two specific embodiments
The method of dimension investigation map.
Specific embodiment 1: unmanned plane (at least two) is all distributed in ground and carries out the acquisition of forest environment measured data, also
It is that each unmanned plane airspace under the tree crown of forest is flown, carries out the concrete condition detection in the region, complete unmanned plane itself and visit
Three-dimensional map building, obstacle recognition, avoidance and the path planning in region are surveyed, background server is distributed each unmanned plane
The fusion of formula management and three-dimensional map.
It is related to earth station during the three-dimensional map building to each unmanned plane and map number is constructed to different unmanned planes
According to fusion and entire map structuring the aspect of integrity validation two.
Cartographic information fusion aspect: the three-dimensional map that each unmanned plane constructs is believed by the data processing unit of earth station
Breath carries out feature extraction, and the 3 d image data of multiple no-manned plane overlapping region is merged according to the matching of characteristic point, will not
Three-dimensional map with unmanned plane building is stitched together, and completes entire three-dimensional map building.
It is possible to further setting same geo-location reference point, that is, multiple unmanned planes are referred to from the same GPS
Point, which sets out, carries out the environment detection of unknown wood land, is determined by the inertial navigation system that each unmanned plane during flying carries each
The specific orientation and mileage information of unmanned plane during flying, according to the relative flight direction and mileage of each unmanned plane and GPS reference point
Carry out the fusion of three-dimensional map.
In terms of integrity validation: by the data processing unit of earth station according to the orientation and geography of three-dimensional map after fusion
Location information, after automatic detection fusion the intermediate region of three-dimensional map fly with the presence or absence of leakage, test leakage the problems such as；Further, may be used
The image data of unmanned plane acquisition is obtained in such a way that the ambient enviroment image data according to unmanned machine testing are by machine learning
The range of variation, and then set according to the historical data of different unmanned plane during flyings the variation threshold between the two field pictures data of front and back
Value then triggers unmanned plane change of flight direction when backstage cloud detects that the variation of unmanned plane detection data is more than given threshold,
Complete the edge detection of the band of position.
Specific embodiment 2: the flying height of UAV system is included on tree crown and under tree crown.In this programme reality
Firstly the need of one unmanned plane during flying starting point with true geographical location of setting during applying, guarantee the flight of unmanned plane
With public Geographic Reference (x, y, z) coordinate.Flown by same a starting point, come identify unmanned plane heading and
Mileage and plane coordinates information.For example, passing through x, y-coordinate and ground the unmanned plane detection for being aligned aerial unmanned plane detection data
The two data are carried out the fusion of three-dimensional map data by x, the y-coordinate of data.
The UAV system includes two different UAV system of flying height, two different nothings of the flying height
Man-machine system is identical in the plane coordinates of synchronization.Further, when multiple unmanned planes of the same flying height of synchronization
Height difference between system less than the first given threshold, distance less than the second given threshold when, send change of flight direction
Instruction, the instruction in the change of flight direction is so that at least one UAV system change in the multiple UAV system flies
Line direction.I.e. for set distance (relative position) threshold value between the different unmanned planes of the same flying height of synchronization, flying
Specific distance (relative position) between being detected during row by range sensor, when between above-mentioned unmanned plane away from
When from being less than given threshold, the flying unit of the corresponding unmanned plane of automatic trigger changes direction, and another frame unmanned plane does not change then
Heading flies by initial planning path, different unmanned planes is avoided to detect the same area.
It is possible to further make the two can be same using the corresponding frame airflight unmanned plane of each ground unmanned plane
One moment detected the forest information of same plane coordinates regional, and the data information of detection is merged automatically
Processing saves the alignment and matching link of ground unmanned plane and aerial unmanned plane detection data.
Further, the detection information that can be obtained according to the UAV system flown on tree crown is formulated under tree crown
The aerial mission of the UAV system of flight, the aerial mission include the range of search coverage.Specifically, settable aerial
The sequencing of unmanned plane and ground unmanned plane during flying, the method first flown using aerial unmanned plane first detect entire zone of ignorance
Overall condition include size and range information, and the information is transmitted to backstage, it is big by the overall region obtained from the background
Small, range information formulates each ground unmanned plane during flying task according to geographical position coordinates and the concentration of trees automatically.
The task of unmanned plane during flying includes the specific location range of search coverage, but does not include specific flight path, flight path by
Each unmanned plane carries out contexture by self according to the specific location size of barrier in detection engineering.Further, backstage takes
Business device can be visited automatically according to the density of trees threshold value of setting to determine whether carry out the detection in certain region, and without environment
The area size and specific location range of survey.
Further, using sensors such as UAV flight's temperature, gases, temperature, the smog etc. around unmanned plane are acquired
Environmental data information, when the temperature and/or smoke data of temperature and/or the gas sensor acquisition of the UAV system are more than
When one given threshold, the map datum includes the location position information and/or warning message of the UAV system.Namely
Say, the environmental datas such as temperature or smog around unmanned plane be more than given threshold, then to the position automatically carry out calibration and
Alarm to avoid the dangerous situations such as fire.Further, data identification unit carries out processing analysis to above-mentioned data, if it is determined that
Fire occurs, then automatic trigger unmanned plane detects the environmental datas such as temperature, smog, the trees of the position peripheral region, identification
The sprawling direction of the intensity of a fire and smoke density, and the information is transmitted to earth station, help earth station to grasp intensity of a fire situation side in real time
Just earth station rescues according to the actual situation.
Further, the arboreal growths numbers such as tree diameters, height, the type obtained according to each unmanned plane acquisition unit
According to automatically generating the economic data of forest, user helped preferably to manage the forest.Further, in conjunction with nobody
The ambient data information of machine detection, such as: the case where the resources such as water, soil, sunlight, predict trees in forest it is following at
Long data cases, and flight path when planning that corresponding unmanned plane detects the forest automatically according to the specific time, help future
Detection to the region.
The second aspect of the present invention provides a kind of device of three-dimensional investigation map of multiple no-manned plane cooperation building, such as Fig. 5 institute
Show, comprising: map datum obtains module 2, has environment tune for obtains that at least two unmanned planes acquire in flight course
Look at least two map datums of data；Three-dimensional investigation map merges generation module 3, for being based on at least two maps number
According to the three-dimensional investigation map with the environmental survey data for generating fusion.
In the particular embodiment, described device further includes that as shown in Figure 6: three-dimensional investigation map is overlapped judgment module 4,
For based on the three-dimensional investigation map for having generated fusion, the map datum of each unmanned plane acquisition of real-time judge whether with it is described
There are laps for the three-dimensional investigation map of generation fusion；Instruction control module 5, for sending the instruction of heading to nobody
Machine.The three-dimensional investigation map fusion generation module is melted at least two map datum by determining fusion basic point
It closes, the fusion basic point refers at least two map is unified to the reference point under the same coordinate system.The reference point
Including absolute coordinate point and/or possess the reference substance of unique identification.The ground that the fusion generation module acquires each unmanned plane
Diagram data carries out feature extraction, and the overlapping region that feature is overlapped is merged；The map datum that each unmanned plane is acquired into
Row is spliced to form complete three-dimensional investigation map.The fusion generation module sets same geo-location reference point, determine described in
The orientation and mileage information relative to the geo-location reference point of each unmanned plane during flying are believed according to the orientation and mileage
Breath carries out the fusion of map datum.
Further, described device further includes three-dimensional investigation map integrality judgment module 6, for judging the three-dimensional tune
Whether complete look into map；Path planning module, for being flown according to the three-dimensional investigation map for having generated fusion to the unmanned plane
Walking along the street diameter carries out path planning；And alarm module 7, when the temperature that the temperature and/or gas sensor of the unmanned plane acquire
And/or smoke data be more than third given threshold when, the alarm module sounds an alarm, alarm include location position information and/
Or warning message.
In a specific embodiment, a kind of system of the three-dimensional investigation map of multiple no-manned plane cooperation building, as shown in fig. 7,
Including at least two unmanned planes and earth station；The unmanned plane N that unmanned plane 1 shown in figure ... ..., the unmanned plane is for flying
Acquisition has the map datum of environmental survey data in the process；The earth station is used to generate fusion based on the map datum
Three-dimensional investigation map with the environmental survey data；Between wherein at least two unmanned plane and each unmanned plane and ground
Information exchange is carried out by information transmission unit between the station of face.The unmanned plane, earth station concrete composition part as previously mentioned,
Details are not described herein.
The third aspect of the present invention provides a kind of electronic equipment, comprising: one or more processors；Storage device is used
In the one or more programs of storage；When one or more of programs are executed by one or more of processors, so that described
The method that one or more processors realize the foregoing three-dimensional investigation map of multiple no-manned plane cooperation building.
The fourth aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with the executable finger of computer
It enables, when the computer executable instructions are executed by a computing apparatus, is operable to execute foregoing multiple no-manned plane cooperation
The method of the three-dimensional investigation map of building.
In conclusion the three-dimensional map construction method that the present invention provides a kind of based on multiple no-manned plane, device, system and its
Electronic equipment and computer readable storage medium acquire in flight course the method includes at least two unmanned planes of acquisition
At least two map datums with environmental survey data；Based at least two map datum, the band of fusion has been generated
State the three-dimensional investigation map of environmental survey data.Through the above technical solutions, the present invention can be realized: carrying out forest in unmanned plane
In the detection process of environment, the planning for carrying out the line of flight in advance is not needed, unmanned plane independently completes keep in obscurity flight and route rule
It draws；During multiple unmanned planes carry out three-dimensional map building, the automatic same area for detecting the building of any two unmanned plane,
And change corresponding heading automatically, the wasting of resources is reduced, completes the building of entire zone of ignorance three-dimensional map as early as possible；It is logical
The detection of excessive platform unmanned plane from different perspectives, obtains the stereoscopic survey information and three-dimensional map of forest, and can predict this
The future growth data in region, to help the following detection to the region.
It should be understood that above-mentioned specific embodiment of the invention is used only for exemplary illustration or explains of the invention
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (10)
1. a kind of method of the three-dimensional investigation map of multiple no-manned plane cooperation building characterized by comprising
Obtain at least two map datums with environmental survey data that at least two unmanned planes acquire in flight course；
Based at least two map datum, the three-dimensional investigation map with the environmental survey data of fusion is generated.
2. the method according to claim 1, wherein the environmental survey data be forest environment survey data,
The three-dimensional investigation map is the three-dimensional map for showing trees and environmental information in wood land.
3. method according to claim 1 or 2, which is characterized in that further include: based on the three-dimensional investigation ground for having generated fusion
Figure, whether there are Chong Die with the three-dimensional investigation map for having generated fusion for the map datum of each unmanned plane acquisition of real-time judge
Part；If there is lap, then the instruction in change of flight direction is sent to corresponding unmanned plane.
4. according to the method described in claim 3, it is characterized in that, the judgement of the lap include: extract it is each nobody
Multiple characteristic point informations of the map datum of machine acquisition, if there are multiple identical with the three-dimensional investigation map that merges has been generated
Characteristic point information is then judged as that there are laps；And/or compare the relative position of each unmanned plane Yu common point reference point
If information is judged as that there are laps identical as the relative position information in the three-dimensional investigation map for having generated fusion.
5. method according to claim 1 or 2, which is characterized in that the flying height of the unmanned plane be included in tree crown it
Above and/or under tree crown.
6. according to the method described in claim 5, it is characterized in that, the unmanned plane obtains aerial letter on tree crown when flight
Breath, the air information includes that elevation information, information, geographical location information, hat width information and the canopy point cloud of trees are close
Spend at least one of information；The unmanned plane obtains terrestrial information under tree crown when flight, the terrestrial information includes tree
At least one of the straight degree information of diameter information, circle, information, density information and geographical location information of the wooden lower section.
7. according to the method described in claim 6, it is characterized in that, further including being carried out based on the air information and terrestrial information
Cross validation.
8. method according to claim 1 or 2, which is characterized in that it is described to be based at least two map datums, generate fusion
The three-dimensional investigation map with the environmental survey data the step of include: will described at least two by determining fusion basic point
A map datum is merged, and the fusion basic point refers at least two map is unified to the ginseng under the same coordinate system
Examination point.
9. according to the method described in claim 8, it is characterized in that, the reference point includes absolute coordinate point and/or possesses only
The reference substance of one mark.
10. according to the method described in claim 8, it is characterized in that, the fusion basic point by determination is at least two by described in
A map datum carries out fusion
The orientation and mileage information relative to the fusion basic point for determining each unmanned plane during flying, according to the orientation and
Mileage information carries out the fusion of at least two map datum.
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