CN114647256A - Geological mapping method and system based on unmanned aerial vehicle - Google Patents
Geological mapping method and system based on unmanned aerial vehicle Download PDFInfo
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- CN114647256A CN114647256A CN202210560688.3A CN202210560688A CN114647256A CN 114647256 A CN114647256 A CN 114647256A CN 202210560688 A CN202210560688 A CN 202210560688A CN 114647256 A CN114647256 A CN 114647256A
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- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The embodiment of the invention relates to the technical field of geological mapping, and particularly discloses a geological mapping method and system based on an unmanned aerial vehicle. The method comprises the steps of obtaining regional basic data of a geological mapping region and endurance data of a plurality of unmanned aerial vehicles; planning a mapping area; carrying out surveying and mapping flight planning; marking the unstable unmanned aerial vehicle; the mark assists the unmanned aerial vehicle, and the surveying and mapping data is acquired through the assistance of the auxiliary unmanned aerial vehicle. Can carry out surveying and mapping regional planning and survey and drawing flight planning according to geological survey regional basic data and a plurality of unmanned aerial vehicle's continuation of the journey data, the realization is carried out the coordination of surveying and drawing flight to a plurality of unmanned aerial vehicles, make a plurality of unmanned aerial vehicles can carry out whole the coverage but not repetitive geological survey flight to whole geological survey region, and can be when certain unmanned aerial vehicle's transmission signal intensity is less than standard signal intensity, mark supplementary unmanned aerial vehicle, carry out survey and drawing data's supplementary real-time transmission, thereby avoid transmission signal intensity weak and cause the loss of survey and drawing data.
Description
Technical Field
The invention belongs to the technical field of geological mapping, and particularly relates to a geological mapping method and system based on an unmanned aerial vehicle.
Background
The geological mapping mainly comprises geological point measurement, geological profile measurement, physical exploration measurement, mining area control measurement, mining area topographic measurement, exploration mesh measurement, exploration engineering positioning measurement, pit exploration engineering measurement, well exploration engineering measurement, through measurement, strip mine measurement, earth surface movement observation, drawing of related drawings, printing and establishment of a geological mineral information system.
Along with the development of unmanned aerial vehicle technique, the survey and drawing unmanned aerial vehicle of more and more specialty is used at the geological survey in-process, but to the great geological survey region in some areas, then need a plurality of unmanned aerial vehicles to carry out the geological survey cooperation, however current geological survey in-process that adopts unmanned aerial vehicle, often can't coordinate the processing to a plurality of unmanned aerial vehicles, lead to a plurality of unmanned aerial vehicles can't coordinate the cooperation and carry out whole covers but not repeated geological survey flight to whole geological survey region, and at unmanned aerial vehicle geological survey in-process, because the influence of multiple factor, probably lead to transmitting signal intensity weak and cause the loss of mapping data.
Disclosure of Invention
The embodiment of the invention aims to provide a geological mapping method and system based on an unmanned aerial vehicle, and aims to solve the problems in the background art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
a geological mapping method based on unmanned aerial vehicles specifically comprises the following steps:
acquiring regional basic data of a geological mapping region and endurance data of a plurality of unmanned aerial vehicles;
planning a surveying and mapping area according to the area basic data and the plurality of cruising data to obtain surveying and mapping planning areas corresponding to the plurality of unmanned aerial vehicles;
carrying out surveying and mapping flight planning on a plurality of unmanned aerial vehicles according to the plurality of surveying and mapping planning areas to obtain a plurality of surveying and mapping flight routes;
the method comprises the steps of obtaining surveying and mapping data transmitted by a plurality of unmanned aerial vehicles during surveying and mapping flight in real time, analyzing a plurality of transmission signal intensities corresponding to the plurality of unmanned aerial vehicles during data transmission in real time, and marking the corresponding unmanned aerial vehicles as unstable unmanned aerial vehicles when the transmission signal intensities are smaller than standard signal intensities;
and marking the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, and acquiring the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle.
As a further limitation of the technical solution of the embodiment of the present invention, the acquiring of the area basic data of the geological mapping area and the endurance data of the plurality of unmanned aerial vehicles specifically includes the following steps:
acquiring regional basic data of a geological mapping region;
sending endurance self-checking instructions to the unmanned aerial vehicles;
and acquiring endurance data sent by a plurality of unmanned aerial vehicles according to the endurance self-checking instruction.
As a further limitation of the technical solution of the embodiment of the present invention, the planning of the mapping area according to the area basic data and the plurality of cruising data to obtain the mapping planning areas corresponding to the plurality of unmanned aerial vehicles specifically includes the following steps:
dividing the geological mapping area into a plurality of mapping division areas according to the area basic data;
and according to the plurality of cruising data, carrying out surveying and mapping area planning on the plurality of surveying and mapping divided areas to obtain surveying and mapping planning areas corresponding to the plurality of unmanned aerial vehicles.
As a further limitation of the technical solution of the embodiment of the present invention, the mapping flight planning of the plurality of unmanned aerial vehicles according to the plurality of mapping planning regions to obtain the plurality of mapping flight routes specifically includes the following steps:
acquiring planning area data corresponding to a plurality of surveying and mapping planning areas according to the area basic data;
carrying out surveying and mapping flight planning on a plurality of unmanned aerial vehicles according to the plurality of surveying and mapping planning areas and the plurality of corresponding planning area data to generate a plurality of surveying and mapping flight routes;
and sending a plurality of mapping flight routes to corresponding unmanned aerial vehicles.
As a further limitation of the technical solution of the embodiment of the present invention, the acquiring, in real time, mapping data transmitted by a plurality of unmanned aerial vehicles during mapping flight, analyzing, in real time, a plurality of transmission signal strengths corresponding to the plurality of unmanned aerial vehicles during data transmission, and when the transmission signal strength is smaller than a standard signal strength, marking the corresponding unmanned aerial vehicle as an unstable unmanned aerial vehicle specifically includes the following steps:
acquiring surveying and mapping data transmitted by a plurality of unmanned aerial vehicles during surveying and mapping flight in real time;
analyzing a plurality of transmission signal intensities corresponding to the plurality of mapping data in real time;
judging whether the transmission signal strengths are smaller than standard signal strength;
when the transmission signal strength is less than the standard signal strength, the corresponding unmanned aerial vehicle is marked as an unstable unmanned aerial vehicle.
As a further limitation of the technical solution of the embodiment of the present invention, the marking of the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, the obtaining of the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time by the auxiliary unmanned aerial vehicle specifically includes the following steps:
tagging drones in proximity to the unstable drone as auxiliary drones;
sending an auxiliary transmission instruction to the auxiliary unmanned aerial vehicle;
establishing an auxiliary transmission channel between the auxiliary unmanned aerial vehicle and the unstable unmanned aerial vehicle according to the auxiliary transmission instruction;
and according to the auxiliary transmission channel, acquiring the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle.
An unmanned aerial vehicle-based geological mapping system, the system comprises a basic endurance data acquisition unit, a corresponding mapping area planning unit, a corresponding mapping flight planning unit, a signal strength analysis processing unit and a mapping data auxiliary transmission unit, wherein:
the basic cruising data acquisition unit is used for acquiring regional basic data of a geological mapping region and cruising data of a plurality of unmanned aerial vehicles;
a corresponding mapping area planning unit, configured to perform mapping area planning according to the area basic data and the plurality of cruising data, so as to obtain mapping planning areas corresponding to the plurality of unmanned aerial vehicles;
the corresponding mapping flight planning unit is used for mapping flight planning on the unmanned aerial vehicles according to the plurality of mapping planning areas to obtain a plurality of mapping flight routes;
the signal intensity analysis processing unit is used for acquiring surveying and mapping data transmitted by the plurality of unmanned aerial vehicles during surveying and mapping flight in real time, analyzing a plurality of corresponding transmission signal intensities during data transmission of the plurality of unmanned aerial vehicles in real time, and marking the corresponding unmanned aerial vehicle as an unstable unmanned aerial vehicle when the transmission signal intensities are smaller than standard signal intensities;
and the auxiliary mapping data transmission unit is used for marking the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, and acquiring the mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle.
As a further limitation of the technical solution of the embodiment of the present invention, the mapping flight planning unit specifically includes:
a planning area data acquisition module for acquiring planning area data corresponding to a plurality of surveying and mapping planning areas according to the area basic data;
the mapping flight route generation module is used for mapping flight planning on the unmanned aerial vehicles according to the mapping planning areas and the corresponding planning area data to generate a plurality of mapping flight routes;
and the mapping flight route sending module is used for sending a plurality of mapping flight routes to corresponding unmanned aerial vehicles.
As a further limitation of the technical solution of the embodiment of the present invention, the signal strength analyzing and processing unit specifically includes:
the real-time acquisition module of the surveying and mapping data is used for acquiring the surveying and mapping data transmitted by the plurality of unmanned aerial vehicles during surveying and mapping flight in real time;
the signal intensity real-time analysis module is used for analyzing a plurality of transmission signal intensities corresponding to the plurality of mapping data in real time;
the signal strength judging and comparing module is used for judging whether the strength of the plurality of transmission signals is smaller than the standard signal strength;
and the unstable unmanned aerial vehicle marking module is used for marking the corresponding unmanned aerial vehicle as the unstable unmanned aerial vehicle when the transmission signal strength is smaller than the standard signal strength.
As a further limitation of the technical solution of the embodiment of the present invention, the auxiliary transmission unit for mapping data specifically includes:
an auxiliary drone tagging module for tagging drones adjacent to the unstable drone as auxiliary drones;
the auxiliary transmission instruction sending module is used for sending an auxiliary transmission instruction to the auxiliary unmanned aerial vehicle;
an auxiliary transmission channel establishing module, configured to establish an auxiliary transmission channel between the auxiliary unmanned aerial vehicle and the unstable unmanned aerial vehicle according to the auxiliary transmission instruction;
and the mapping data auxiliary transmission module is used for acquiring the mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle according to the auxiliary transmission channel.
Compared with the prior art, the invention has the beneficial effects that:
according to the embodiment of the invention, the regional basic data of the geological mapping region and the endurance data of a plurality of unmanned aerial vehicles are obtained; planning a mapping area; carrying out surveying and mapping flight planning; marking an unstable unmanned aerial vehicle; the mark assists the unmanned aerial vehicle, and the surveying and mapping data is acquired through assisting the unmanned aerial vehicle. Can carry out surveying and mapping regional planning and survey and drawing flight planning according to geological survey regional basic data and a plurality of unmanned aerial vehicle's continuation of the journey data, the realization is carried out the coordination of surveying and drawing flight to a plurality of unmanned aerial vehicles, make a plurality of unmanned aerial vehicles can carry out whole the coverage but not repetitive geological survey flight to whole geological survey region, and can be when certain unmanned aerial vehicle's transmission signal intensity is less than standard signal intensity, mark supplementary unmanned aerial vehicle, carry out the supplementary real-time transmission of survey data through supplementary unmanned aerial vehicle, thereby can effectively avoid the survey and drawing data that transmission signal intensity caused when less strong to lose.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 shows a flow chart of a method provided by an embodiment of the invention.
Fig. 2 shows a flowchart for acquiring area basic data and endurance data in the method provided by the embodiment of the present invention.
Fig. 3 shows a flow chart of mapping area planning in the method provided by the embodiment of the present invention.
Fig. 4 shows a flow chart of mapping flight planning in the method provided by the embodiment of the invention.
Fig. 5 shows a flowchart of a transmission signal strength analysis process in the method provided by the embodiment of the invention.
Fig. 6 shows a flowchart of the real-time auxiliary transmission of mapping data in the method provided by the embodiment of the invention.
Fig. 7 shows an application architecture diagram of a system provided by an embodiment of the invention.
Fig. 8 shows a block diagram of a mapping flight planning unit in the system according to the embodiment of the present invention.
Fig. 9 shows a block diagram of a signal strength analysis processing unit in the system according to the embodiment of the present invention.
Fig. 10 shows a block diagram of an auxiliary transmission unit for mapping data in the system according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It can be understood that, current geological survey process that adopts unmanned aerial vehicle, can't coordinate a plurality of unmanned aerial vehicles usually, lead to a plurality of unmanned aerial vehicles can't coordinate the cooperation and carry out whole the geological survey flight that covers but not repetition to whole geological survey area, and at unmanned aerial vehicle geological survey in-process, because the influence of multifactor, probably lead to transmission signal intensity weak and cause the losing of mapping data.
In order to solve the problems, the embodiment of the invention acquires the regional basic data of the geological mapping region and the endurance data of a plurality of unmanned aerial vehicles; planning a mapping area; carrying out surveying and mapping flight planning; marking an unstable unmanned aerial vehicle; the mark assists the unmanned aerial vehicle, and the surveying and mapping data is acquired through assisting the unmanned aerial vehicle. Can carry out surveying and mapping regional planning and survey and drawing flight planning according to geological survey regional basic data and a plurality of unmanned aerial vehicle's continuation of the journey data, the realization is carried out the coordination of surveying and drawing flight to a plurality of unmanned aerial vehicles, make a plurality of unmanned aerial vehicles can carry out whole the coverage but not repetitive geological survey flight to whole geological survey region, and can be when certain unmanned aerial vehicle's transmission signal intensity is less than standard signal intensity, mark supplementary unmanned aerial vehicle, carry out the supplementary real-time transmission of survey data through supplementary unmanned aerial vehicle, thereby can effectively avoid the survey and drawing data that transmission signal intensity caused when less strong to lose.
Fig. 1 shows a flow chart of a method provided by an embodiment of the invention.
Specifically, the geological mapping method based on the unmanned aerial vehicle specifically comprises the following steps:
step S101, obtaining area basic data of a geological mapping area and endurance data of a plurality of unmanned aerial vehicles.
In the embodiment of the invention, before the mapping flight of the unmanned aerial vehicle, the geological mapping area for mapping flight is determined, the area basic data of the geological mapping area is obtained, the endurance self-check instruction is sent to the plurality of unmanned aerial vehicles, after the unmanned aerial vehicle receives the endurance self-check instruction, the endurance detection is carried out, the endurance data is obtained and sent, and the endurance data sent by the plurality of unmanned aerial vehicles is further obtained.
It will be appreciated that the area base data includes area coordinate data for the geological mapping area, known terrain data, location coordinate data for the emphasis mapping, and the like.
Specifically, fig. 2 shows a flowchart for acquiring area basic data and endurance data in the method provided by the embodiment of the present invention.
In a preferred embodiment of the present invention, the acquiring area basic data of a geological mapping area and endurance data of a plurality of drones specifically includes the following steps:
in step S1011, area basic data of the geological mapping area is acquired.
Step S1012, sending a cruising self-check instruction to the plurality of drones.
And S1013, acquiring endurance data sent by the self-checking of the unmanned aerial vehicles according to the endurance self-checking instruction.
Further, the unmanned aerial vehicle-based geological mapping method further comprises the following steps:
and S102, carrying out mapping area planning according to the area basic data and the plurality of cruising data to obtain mapping planning areas corresponding to the plurality of unmanned aerial vehicles.
In the embodiment of the invention, the geological surveying area is divided into a plurality of surveying and mapping divided areas according to the area basic data of the geological surveying and mapping area, and the surveying and mapping area planning is carried out according to the distances between the plurality of surveying and mapping divided areas and the sending place of the unmanned aerial vehicle, so that the unmanned aerial vehicle with long endurance corresponds to the surveying and mapping divided area with long distance, and the unmanned aerial vehicle with short endurance corresponds to the surveying and mapping divided area with short distance, thereby obtaining a plurality of surveying and mapping planning areas corresponding to different unmanned aerial vehicles.
It can be understood that the unmanned aerial vehicle of different grade type, the long different unmanned aerial vehicle of use have different survey and drawing flight continuation of the journey, and the different survey and drawing divide the regional and unmanned aerial vehicle to send the distance in place to be different, consequently can match the survey and drawing division region of different distances according to different unmanned aerial vehicle's continuation of the journey, obtain a plurality of survey and drawing planning regions that satisfy different unmanned aerial vehicle continuation of the journey flight. Specifically, the matching of the cruising and the surveying and mapping divided area of the unmanned aerial vehicle not only needs to consider the flight distance of the unmanned aerial vehicle, but also needs to consider the time of hovering and surveying of the unmanned aerial vehicle in the key surveying and mapping place in the surveying and mapping divided area.
Specifically, fig. 3 shows a flowchart of mapping area planning in the method provided by the embodiment of the present invention.
In an embodiment of the present invention, the planning a mapping area according to the area basic data and the plurality of cruising data to obtain mapping planning areas corresponding to a plurality of drones specifically includes:
and S1021, dividing the geological mapping area into a plurality of mapping divided areas according to the area basic data.
Step S1022, performing mapping area planning on the plurality of mapping divided areas according to the plurality of cruising data, to obtain mapping planning areas corresponding to the plurality of unmanned aerial vehicles.
Further, the unmanned aerial vehicle-based geological mapping method further comprises the following steps:
and S103, carrying out surveying and mapping flight planning on the unmanned aerial vehicles according to the plurality of surveying and mapping areas to obtain a plurality of surveying and mapping flight routes.
In the embodiment of the invention, planning area data corresponding to a plurality of surveying and mapping planning areas are obtained according to the area basic data, and surveying and mapping flight planning is carried out on a plurality of unmanned aerial vehicles according to the plurality of surveying and mapping planning areas and the corresponding planning area data to generate a plurality of surveying and mapping flight routes. Specifically, the mapping flight route includes a flight route from the unmanned aerial vehicle emission location to the corresponding mapping planning area and a flight route for mapping flight in the mapping planning area.
Specifically, fig. 4 shows a flowchart of mapping flight planning in the method provided by the embodiment of the present invention.
In an embodiment of the present invention, the mapping flight planning of the multiple unmanned aerial vehicles according to the multiple mapping planning areas to obtain multiple mapping flight routes includes:
and step S1031, acquiring planning area data corresponding to a plurality of mapping planning areas according to the area basic data.
And S1032, performing surveying and mapping flight planning on the unmanned aerial vehicles according to the plurality of surveying and mapping planning areas and the plurality of corresponding planning area data, and generating a plurality of surveying and mapping flight routes.
And step S1033, sending the plurality of mapping flight routes to corresponding unmanned aerial vehicles.
Further, the unmanned aerial vehicle-based geological mapping method further comprises the following steps:
step S104, surveying and mapping data transmitted by the plurality of unmanned aerial vehicles during surveying and mapping flight are obtained in real time, a plurality of transmission signal intensities corresponding to the plurality of unmanned aerial vehicles during data transmission are analyzed in real time, and when the transmission signal intensities are smaller than the standard signal intensity, the corresponding unmanned aerial vehicle is marked as an unstable unmanned aerial vehicle.
In the embodiment of the invention, when a plurality of unmanned aerial vehicles carry out surveying and mapping flight in corresponding surveying and mapping planning areas, surveying and mapping data obtained during flight surveying and mapping need to be sent in real time, the surveying and mapping data sent by the plurality of unmanned aerial vehicles are received in real time, the transmission signal intensity of the plurality of unmanned aerial vehicles during data transmission is analyzed in real time when the plurality of surveying and mapping data are received, the plurality of transmission signal intensities are compared with the standard signal intensity, and when the transmission signal intensity is smaller than the standard signal intensity, the corresponding unmanned aerial vehicle is marked as an unstable unmanned aerial vehicle.
It can be understood that a plurality of unmanned aerial vehicles all are the survey data of acquireing when the survey is drawn to preferential direct transmission flight, but when unmanned aerial vehicle's transmission signal intensity is less strong, this kind of direct real-time transmission survey data's mode probably causes losing of data, and this just leads to geological survey information incomplete easily.
Specifically, fig. 5 shows a flowchart of the transmission signal strength analysis processing in the method provided by the embodiment of the present invention.
In an embodiment of the present invention, the acquiring, in real time, mapping data transmitted by a plurality of unmanned aerial vehicles during mapping flight, analyzing, in real time, a plurality of transmission signal strengths corresponding to the plurality of unmanned aerial vehicles during data transmission, and when the transmission signal strength is smaller than a standard signal strength, marking the corresponding unmanned aerial vehicle as an unstable unmanned aerial vehicle specifically includes the following steps:
and S1041, acquiring surveying and mapping data transmitted during surveying and mapping flight of the unmanned aerial vehicles in real time.
Step S1042, analyzing in real time a plurality of transmission signal intensities corresponding to the plurality of mapping data.
Step S1043, determining whether the transmission signal strengths are less than a standard signal strength.
And step S1044, when the transmission signal strength is smaller than the standard signal strength, marking the corresponding unmanned aerial vehicle as an unstable unmanned aerial vehicle.
Further, the unmanned aerial vehicle-based geological mapping method further comprises the following steps:
and step S105, marking the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, and acquiring the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle.
In the embodiment of the invention, the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle and closer to the data receiving place is marked as an auxiliary unmanned aerial vehicle, the auxiliary unmanned aerial vehicle can send an auxiliary transmission application to the adjacent unstable unmanned aerial vehicle after receiving the auxiliary transmission instruction by sending the auxiliary transmission instruction to the auxiliary unmanned aerial vehicle, the unstable unmanned aerial vehicle agrees to carry out auxiliary transmission with the auxiliary unmanned aerial vehicle after receiving the auxiliary transmission application, an auxiliary transmission channel between the auxiliary unmanned aerial vehicle and the unstable unmanned aerial vehicle is established at the moment, the unstable unmanned aerial vehicle transmits the mapping data obtained by flight mapping to the auxiliary unmanned aerial vehicle in real time through the auxiliary transmission channel, and the auxiliary unmanned aerial vehicle simultaneously sends the mapping data of flight mapping and the received mapping data sent by the unstable unmanned aerial vehicle, so that the mapping data transmitted by the unstable unmanned aerial vehicle in real time can be obtained through the auxiliary unmanned aerial vehicle, avoid unstable unmanned aerial vehicle's mapping data to lose.
Specifically, fig. 6 shows a flowchart of the real-time auxiliary transmission of mapping data in the method provided by the embodiment of the present invention.
In a preferred embodiment provided by the present invention, the marking of the drone adjacent to the unstable drone as an auxiliary drone, the obtaining of the mapping data transmitted by the unstable drone in real time by the auxiliary drone specifically includes the following steps:
step S1051, mark the drone adjacent to the unstable drone as an auxiliary drone.
Step S1052, sending an auxiliary transmission instruction to the auxiliary drone.
And S1053, establishing an auxiliary transmission channel between the auxiliary unmanned aerial vehicle and the unstable unmanned aerial vehicle according to the auxiliary transmission instruction.
And S1054, acquiring the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle according to the auxiliary transmission channel.
Further, fig. 7 is a diagram illustrating an application architecture of the system according to the embodiment of the present invention.
In another preferred embodiment, the present invention provides a geological mapping system based on unmanned aerial vehicles, comprising:
the basic cruising data acquisition unit 101 is configured to acquire regional basic data of the geological mapping area and cruising data of the multiple drones.
In the embodiment of the present invention, before performing the surveying and mapping flight of the unmanned aerial vehicle, the basic cruising data acquisition unit 101 determines a geological surveying and mapping area where the surveying and mapping flight is performed, acquires area basic data of the geological surveying and mapping area, and sends a cruising self-check instruction to the plurality of unmanned aerial vehicles, and after receiving the cruising self-check instruction, the unmanned aerial vehicles perform cruising detection to obtain cruising data and send the cruising data, and further, the basic cruising data acquisition unit 101 acquires the cruising data sent by the plurality of unmanned aerial vehicles.
And a corresponding mapping area planning unit 102, configured to perform mapping area planning according to the area basic data and the plurality of cruising data, so as to obtain mapping planning areas corresponding to the plurality of unmanned aerial vehicles.
In the embodiment of the present invention, the corresponding mapping region planning unit 102 divides the geological mapping region into a plurality of mapping division regions according to the region basic data of the geological mapping region, and performs mapping region planning according to the distances between the mapping division regions and the unmanned aerial vehicle emission location, so that an unmanned aerial vehicle with a long endurance corresponds to a mapping division region with a long distance, and an unmanned aerial vehicle with a short endurance corresponds to a mapping division region with a short distance, thereby obtaining a plurality of mapping planning regions corresponding to different unmanned aerial vehicles.
And the corresponding surveying and mapping flight planning unit 103 is used for surveying and mapping flight planning on the unmanned aerial vehicles according to the plurality of surveying and mapping areas to obtain a plurality of surveying and mapping flight routes.
In the embodiment of the present invention, the corresponding surveying and mapping flight planning unit 103 obtains planning area data corresponding to a plurality of surveying and mapping planning areas according to the area basic data, and performs surveying and mapping flight planning on the plurality of unmanned aerial vehicles according to the plurality of surveying and mapping planning areas and the corresponding planning area data, so as to generate a plurality of surveying and mapping flight routes. Specifically, the mapping flight route includes a flight route from the unmanned aerial vehicle emission location to the corresponding mapping planning area and a flight route for mapping flight in the mapping planning area.
Specifically, fig. 8 shows a structural block diagram of the mapping flight planning unit 103 in the system according to the embodiment of the present invention.
In a preferred embodiment provided by the present invention, the mapping flight planning unit 103 specifically includes:
a planning area data obtaining module 1031, configured to obtain planning area data corresponding to multiple mapping planning areas according to the area basic data.
And the mapping flight route generation module 1032 is used for mapping flight planning on a plurality of unmanned aerial vehicles according to a plurality of mapping planning areas and a plurality of corresponding planning area data to generate a plurality of mapping flight routes.
A mapping flight route sending module 1033 configured to send a plurality of mapping flight routes to corresponding drones.
Further, the unmanned aerial vehicle-based geological mapping system further comprises:
the signal strength analysis processing unit 104 is used for acquiring mapping data transmitted during the mapping flight of a plurality of unmanned aerial vehicles in real time, analyzing a plurality of transmission signal strengths corresponding to the data transmission of the plurality of unmanned aerial vehicles in real time, and marking the corresponding unmanned aerial vehicles as unstable unmanned aerial vehicles when the transmission signal strengths are smaller than the standard signal strengths.
In the embodiment of the present invention, when a plurality of drones perform surveying and mapping flight in corresponding surveying and mapping planning areas, the signal strength analysis processing unit 104 needs to send surveying and mapping data obtained during flight surveying and mapping in real time, and by receiving the surveying and mapping data sent by the plurality of drones in real time, and when receiving the plurality of surveying and mapping data, analyzes transmission signal strengths of the plurality of drones during data transmission in real time, compares the plurality of transmission signal strengths with standard signal strengths, and when there is a transmission signal strength smaller than the standard signal strength, marks the corresponding drone as an unstable drone.
Specifically, fig. 9 shows a block diagram of a signal strength analysis processing unit 104 in the system according to the embodiment of the present invention.
In a preferred embodiment provided by the present invention, the signal strength analyzing and processing unit 104 specifically includes:
and a mapping data real-time obtaining module 1041, configured to obtain, in real time, mapping data transmitted during mapping flight of the multiple unmanned aerial vehicles.
The signal strength real-time analysis module 1042 is configured to analyze, in real time, a plurality of transmission signal strengths corresponding to the plurality of mapping data obtained.
A signal strength judging and comparing module 1043, configured to judge whether the transmission signal strengths are smaller than a standard signal strength.
Unstable unmanned aerial vehicle marks module 1044 for when transmission signal intensity is less than standard signal intensity, mark the unmanned aerial vehicle who corresponds as unstable unmanned aerial vehicle.
Further, the unmanned aerial vehicle-based geological mapping system further comprises:
and a surveying data auxiliary transmission unit 105, configured to mark the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, and obtain, by the auxiliary unmanned aerial vehicle, surveying data transmitted by the unstable unmanned aerial vehicle in real time.
In the embodiment of the present invention, the auxiliary transmission unit 105 of surveying data marks the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle and closer to the data receiving location as an auxiliary unmanned aerial vehicle, the auxiliary unmanned aerial vehicle can send an auxiliary transmission application to the adjacent unstable unmanned aerial vehicle after receiving the auxiliary transmission instruction by sending the auxiliary transmission instruction to the auxiliary unmanned aerial vehicle, the unstable unmanned aerial vehicle agrees to perform auxiliary transmission with the auxiliary unmanned aerial vehicle after receiving the auxiliary transmission application, at this time, an auxiliary transmission channel between the auxiliary unmanned aerial vehicle and the unstable unmanned aerial vehicle is established, the unstable unmanned aerial vehicle transmits the surveying data obtained by flight surveying and mapping to the auxiliary unmanned aerial vehicle through the auxiliary transmission channel in real time, the auxiliary unmanned aerial vehicle simultaneously sends the surveying data of its own flight surveying and mapping and the received surveying data sent by the unstable unmanned aerial vehicle, the auxiliary transmission unit 105 of surveying data can obtain the surveying data transmitted by the unstable unmanned aerial vehicle in real time, avoid unstable unmanned aerial vehicle's mapping data to lose.
Specifically, fig. 10 shows a block diagram of the auxiliary transmission unit 105 for mapping data in the system according to the embodiment of the present invention.
In a preferred embodiment provided by the present invention, the auxiliary transmission unit 105 for mapping data specifically includes:
an auxiliary drone tagging module 1051 for tagging drones adjacent to the unstable drone as auxiliary drones.
An auxiliary transmission instruction sending module 1052, configured to send an auxiliary transmission instruction to the auxiliary unmanned aerial vehicle.
An auxiliary transmission channel establishing module 1053, configured to establish an auxiliary transmission channel between the auxiliary drone and the unstable drone according to the auxiliary transmission instruction.
And a survey data auxiliary transmission module 1054, configured to obtain, by the auxiliary drone, survey data transmitted by the unstable drone in real time according to the auxiliary transmission channel.
In summary, the embodiment of the invention obtains the regional basic data of the geological mapping area and the endurance data of the multiple unmanned aerial vehicles; planning a surveying and mapping area according to the area basic data and the plurality of cruising data to obtain surveying and mapping planning areas corresponding to the plurality of unmanned aerial vehicles; carrying out surveying and mapping flight planning on a plurality of unmanned aerial vehicles according to the plurality of surveying and mapping planning areas to obtain a plurality of surveying and mapping flight routes; the method comprises the steps of obtaining surveying and mapping data transmitted by a plurality of unmanned aerial vehicles during surveying and mapping flight in real time, analyzing a plurality of transmission signal intensities corresponding to the plurality of unmanned aerial vehicles during data transmission in real time, and marking the corresponding unmanned aerial vehicles as unstable unmanned aerial vehicles when the transmission signal intensities are smaller than standard signal intensities; and marking the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, and acquiring the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle. Can carry out surveying and mapping regional planning and survey and drawing flight planning according to geological survey regional basic data and a plurality of unmanned aerial vehicle's continuation of the journey data, the realization is carried out the coordination of surveying and drawing flight to a plurality of unmanned aerial vehicles, make a plurality of unmanned aerial vehicles can carry out whole the coverage but not repetitive geological survey flight to whole geological survey region, and can be when certain unmanned aerial vehicle's transmission signal intensity is less than standard signal intensity, mark supplementary unmanned aerial vehicle, carry out the supplementary real-time transmission of survey data through supplementary unmanned aerial vehicle, can avoid the survey data that transmission signal intensity caused when less strong to lose.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A geological mapping method based on unmanned aerial vehicles is characterized by specifically comprising the following steps:
acquiring regional basic data of a geological mapping region and endurance data of a plurality of unmanned aerial vehicles;
planning a surveying and mapping area according to the area basic data and the plurality of cruising data to obtain surveying and mapping planning areas corresponding to the plurality of unmanned aerial vehicles;
carrying out surveying and mapping flight planning on a plurality of unmanned aerial vehicles according to the plurality of surveying and mapping planning areas to obtain a plurality of surveying and mapping flight routes;
the method comprises the steps of obtaining surveying and mapping data transmitted by a plurality of unmanned aerial vehicles during surveying and mapping flight in real time, analyzing a plurality of transmission signal intensities corresponding to the plurality of unmanned aerial vehicles during data transmission in real time, and marking the corresponding unmanned aerial vehicles as unstable unmanned aerial vehicles when the transmission signal intensities are smaller than standard signal intensities;
and marking the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, and acquiring the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle.
2. The drone-based geological mapping method according to claim 1, characterized in that said acquisition of area elementary data of the geological mapping area and endurance data of a plurality of drones comprises in particular the following steps:
acquiring regional basic data of a geological mapping region;
sending endurance self-checking instructions to the unmanned aerial vehicles;
and acquiring endurance data sent by a plurality of unmanned aerial vehicles according to the endurance self-checking instruction.
3. The geological mapping method based on unmanned aerial vehicle as claimed in claim 1, wherein the step of planning the mapping area according to the area basic data and the plurality of cruising data to obtain the mapping planning areas corresponding to the plurality of unmanned aerial vehicles comprises the following steps:
dividing the geological mapping area into a plurality of mapping division areas according to the area basic data;
and according to the plurality of cruising data, carrying out surveying and mapping area planning on the plurality of surveying and mapping divided areas to obtain surveying and mapping planning areas corresponding to the plurality of unmanned aerial vehicles.
4. The geological mapping method based on unmanned aerial vehicles according to claim 1, wherein the mapping flight planning of the unmanned aerial vehicles according to the plurality of mapping planning areas to obtain the plurality of mapping flight routes comprises the following steps:
acquiring planning area data corresponding to a plurality of surveying and mapping planning areas according to the area basic data;
carrying out surveying and mapping flight planning on a plurality of unmanned aerial vehicles according to the plurality of surveying and mapping planning areas and the plurality of corresponding planning area data to generate a plurality of surveying and mapping flight routes;
and sending a plurality of mapping flight routes to corresponding unmanned aerial vehicles.
5. The unmanned aerial vehicle-based geological mapping method according to claim 1, wherein the step of obtaining real-time mapping data transmitted by a plurality of unmanned aerial vehicles during mapping flight, analyzing in real-time a plurality of transmission signal strengths corresponding to data transmission of the plurality of unmanned aerial vehicles, and marking a corresponding unmanned aerial vehicle as an unstable unmanned aerial vehicle when the transmission signal strength is smaller than a standard signal strength specifically comprises the steps of:
acquiring surveying and mapping data transmitted by a plurality of unmanned aerial vehicles during surveying and mapping flight in real time;
analyzing a plurality of transmission signal intensities corresponding to the plurality of mapping data in real time;
judging whether the transmission signal strengths are smaller than standard signal strength;
when the transmission signal strength is less than the standard signal strength, the corresponding unmanned aerial vehicle is marked as an unstable unmanned aerial vehicle.
6. The drone-based geological mapping method according to claim 1, characterized in that said tagging of drones in proximity of said unstable drones as secondary drones, the acquisition of the mapping data transmitted in real time by said secondary drones, comprises in particular the following steps:
tagging drones in proximity to the unstable drone as auxiliary drones;
sending an auxiliary transmission instruction to the auxiliary unmanned aerial vehicle;
establishing an auxiliary transmission channel between the auxiliary unmanned aerial vehicle and the unstable unmanned aerial vehicle according to the auxiliary transmission instruction;
and according to the auxiliary transmission channel, acquiring the surveying and mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle.
7. The utility model provides a geological mapping system based on unmanned aerial vehicle, its characterized in that, the system includes basic continuation of the journey data acquisition unit, corresponds mapping area planning unit, corresponds mapping flight planning unit, signal strength analysis processing unit and supplementary transmission unit of mapping data, wherein:
the basic cruising data acquisition unit is used for acquiring regional basic data of a geological mapping region and cruising data of a plurality of unmanned aerial vehicles;
a corresponding mapping area planning unit, configured to perform mapping area planning according to the area basic data and the plurality of cruising data, so as to obtain mapping planning areas corresponding to the plurality of unmanned aerial vehicles;
the corresponding mapping flight planning unit is used for mapping flight planning on the unmanned aerial vehicles according to the plurality of mapping planning areas to obtain a plurality of mapping flight routes;
the signal intensity analysis processing unit is used for acquiring surveying and mapping data transmitted by the plurality of unmanned aerial vehicles during surveying and mapping flight in real time, analyzing a plurality of corresponding transmission signal intensities during data transmission of the plurality of unmanned aerial vehicles in real time, and marking the corresponding unmanned aerial vehicle as an unstable unmanned aerial vehicle when the transmission signal intensities are smaller than standard signal intensities;
and the auxiliary mapping data transmission unit is used for marking the unmanned aerial vehicle adjacent to the unstable unmanned aerial vehicle as an auxiliary unmanned aerial vehicle, and acquiring the mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle.
8. The drone-based geological mapping system according to claim 7, wherein said corresponding mapping flight planning unit comprises in particular:
a planning area data acquisition module for acquiring planning area data corresponding to a plurality of surveying and mapping planning areas according to the area basic data;
the mapping flight route generation module is used for mapping flight planning on the unmanned aerial vehicles according to the mapping planning areas and the corresponding planning area data to generate a plurality of mapping flight routes;
and the mapping flight route sending module is used for sending a plurality of mapping flight routes to corresponding unmanned aerial vehicles.
9. The drone-based geological mapping system according to claim 7, characterized in that said signal strength analysis processing unit comprises in particular:
the real-time acquisition module of the surveying and mapping data is used for acquiring the surveying and mapping data transmitted by the plurality of unmanned aerial vehicles during surveying and mapping flight in real time;
the signal intensity real-time analysis module is used for analyzing a plurality of transmission signal intensities corresponding to the plurality of mapping data in real time;
the signal strength judging and comparing module is used for judging whether the strength of the plurality of transmission signals is smaller than the standard signal strength;
and the unstable unmanned aerial vehicle marking module is used for marking the corresponding unmanned aerial vehicle as the unstable unmanned aerial vehicle when the transmission signal strength is smaller than the standard signal strength.
10. The drone-based geological mapping system according to claim 7, characterized in that said mapping data auxiliary transmission unit comprises in particular:
an auxiliary drone tagging module for tagging drones adjacent to the unstable drone as auxiliary drones;
the auxiliary transmission instruction sending module is used for sending an auxiliary transmission instruction to the auxiliary unmanned aerial vehicle;
an auxiliary transmission channel establishing module, configured to establish an auxiliary transmission channel between the auxiliary unmanned aerial vehicle and the unstable unmanned aerial vehicle according to the auxiliary transmission instruction;
and the mapping data auxiliary transmission module is used for acquiring the mapping data transmitted by the unstable unmanned aerial vehicle in real time through the auxiliary unmanned aerial vehicle according to the auxiliary transmission channel.
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