CN114812515B - Accurate mapping system for statistical data and data acquisition method thereof - Google Patents

Accurate mapping system for statistical data and data acquisition method thereof Download PDF

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CN114812515B
CN114812515B CN202210486353.1A CN202210486353A CN114812515B CN 114812515 B CN114812515 B CN 114812515B CN 202210486353 A CN202210486353 A CN 202210486353A CN 114812515 B CN114812515 B CN 114812515B
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吕燕仪
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Shenzhen Shenlve Wisdom Information Service Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/20—Drawing from basic elements, e.g. lines or circles
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/187—Segmentation; Edge detection involving region growing; involving region merging; involving connected component labelling
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    • G06—COMPUTING; CALCULATING OR COUNTING
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Abstract

The invention provides an accurate mapping system for statistical data and a data acquisition method thereof. The precise mapping system comprises a data acquisition module, a mapping data generation module and a model generation module. The data acquisition method comprises the steps of acquiring spatial position information of the target area to be drawn through a geographic information system; performing area planning on the target area to be drawn to form a geometric target area range; setting the number of unmanned aerial vehicles according to the range of the geometric target area; planning a shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shape of the geometric target area range; and controlling the unmanned aerial vehicle to fly according to the shooting path of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to shoot images in the range of the geometric target area.

Description

Accurate mapping system for statistical data and data acquisition method thereof
Technical Field
The invention provides an accurate mapping system for statistical data and a data acquisition method thereof, belonging to the technical field of mapping.
Background
Surveying and mapping refers to measurement and mapping, which is based on computer technology, photoelectric technology, network communication technology, space science and information science, takes a global navigation satellite positioning system (GNSS), remote Sensing (RS) and a Geographic Information System (GIS) as technical cores, selects existing feature points and boundary lines on the ground, obtains figure and position information reflecting the current situation of the ground by a measurement means, and is used for engineering construction, planning and design and administrative management.
The existing mapping system based on mapping usually acquires the geospatial information of a target area through a geographic information system, but because the geographic information system is not updated in real time, mapping information is often required to be acquired again through a field data acquisition mode for mapping, the existing data acquisition mode is realized through manual data acquisition, and the problems of low data acquisition efficiency, poor data acquisition comprehensiveness and the like exist frequently.
Disclosure of Invention
The invention provides an accurate mapping system for statistical data and a data acquisition method thereof, which are used for solving the problems of low data acquisition efficiency and poor data acquisition comprehensiveness of the conventional mapping system, and adopt the following technical scheme:
an accurate mapping system for statistical data, the accurate mapping system comprising:
the data acquisition module is used for acquiring image information of a target area to be drawn by controlling the plurality of unmanned aerial vehicles;
the mapping data generation module is used for converting the image information of the target area to be mapped, acquired by the unmanned aerial vehicle, into topographic data required by mapping;
and the model generation module is used for counting the mapping data and generating a mapping map corresponding to the target area to be mapped.
Further, the data acquisition module comprises:
the acquisition module is used for acquiring the spatial position information of the target area to be drawn through a geographic information system;
the area planning module is used for carrying out area planning on the target area to be drawn to form a geometric target area range;
the number determining module is used for setting the number of the unmanned aerial vehicles according to the range of the geometric target area;
the path planning module is used for planning the shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shapes of the geometric target area ranges;
and the unmanned aerial vehicle control flight module is used for controlling the unmanned aerial vehicle to fly according to the shooting path of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to shoot images in the range of the geometric target area.
Further, the area planning module includes:
the edge acquisition module is used for acquiring an overlook image of the to-be-painted target area according to the spatial position information and acquiring an edge area line of the to-be-painted target area through the overlook image;
an initial region acquisition module, configured to extract vertexes of all convex portions of the edge region line, and connect the vertexes of the convex portions to form an initial region;
and the area range forming module is used for approximating the shape of the initial area to a circular or elliptical area range including a target area to be drawn according to the shape of the initial area, wherein the circular or elliptical area range is a geometric target area range.
Further, the number determination module includes:
the region segmentation module is used for performing region segmentation on the geometric target region range according to a region segmentation rule to obtain a plurality of region segmentation blocks;
the number determining module is used for setting the number of corresponding equal unmanned aerial vehicles according to the number of the region dividing blocks;
wherein the region segmentation rule is as follows:
when the geometric target area range is a circular area range, acquiring the area radius of each area by using a first area range determination model, and planning and acquiring N-1 annular area segmentation blocks and 1 central circle area segmentation block through the area radius;
when the geometric target area range is an elliptical area range, obtaining the area radius of each area by using a second area range determination model, and planning N-1 side area segmentation blocks and 1 central circle area segmentation block according to the area radius.
Wherein the first region range determination model is as follows:
Figure DEST_PATH_IMAGE001
wherein,R 01 representing the radius lengths of the central circle region dividing blocks when the geometric target region range is a circular region range;Nrepresenting the total number of the region division blocks;R f represents the radius of the circular area; INT () represents rounding up;nrepresenting a total number of vertices of all convex portions of the edge region line;R min the circle center of the circular area range is represented and the circle is combined with the circleThe length of the straight-line distance between the vertexes of the convex parts with the nearest circle centers of the area ranges;R max the linear distance length between the circle center of the circular area range and the vertex of the convex part farthest from the circle center of the circular area range is represented;λthe radius adjustment coefficient is represented by a value,λthe value range of (A) is 0.18-0.33;R n-1 indicating the ring radius lengths of all the ring-shaped region segments except the outermost ring-shaped region segment;R n representing a ring radius length of the outermost ring-shaped region segment;
the second region range determination model is as follows:
Figure DEST_PATH_IMAGE002
wherein,R 02 representing the radius lengths of the central circle region partitions when the geometric target region range is an elliptical region range;Nrepresenting the total number of the region division blocks;aandbrespectively representing the major and minor axis dimensions of the extent of the convexly shaped region;αthe length-adjustment coefficient is represented by,αthe value range of (A) is 0.59-0.73;L n-2 the long axis section length corresponding to the side region division blocks except the division blocks at the two ends of the oval region range is represented;L n the long axis pitch length corresponding to the side region segment corresponding to the two end side region segments is shown.
Further, the path planning module includes:
the first path planning module is used for setting flight access points of each unmanned aerial vehicle when the geometric target area range is a circular area range, wherein the flight access points are respectively positioned on outer boundary lines of the area segmentation blocks corresponding to each unmanned aerial vehicle, and included angles between every two adjacent flight access pointsα=360 °/M, M representing the total number of drones; each unmanned aerial vehicle enters the corresponding region partition block range along the flight cut-in point and spirally faces the region partition block in an equidistant mode along the cut-in directionThe inner boundary line of the area division block or the central point of the geometric target area range performs circular motion, and moves by delta R to the inner boundary line of the area division block or the central point of the geometric target area range after completing spiral motion for one circle 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
the second path planning module is used for setting a flight entry point of each unmanned aerial vehicle when the geometric target area range is an elliptical area range, wherein the flight entry points are respectively two intersection points between a major axis of the elliptical area and an area boundary, any one of the two intersection points between a minor axis of the elliptical area and the area boundary, and any one of the two intersection points between a boundary of the area partition block and the area boundary; and, any one of two intersections between the elliptical region minor axis and the region boundary and any one of two intersections between the region dividing block boundary and the region boundary are opposite in direction; when unmanned aerial vehicle is directed against when the regional segmentation piece of central circle of oval regional scope carries out image acquisition, follow the flight access point that unmanned aerial vehicle corresponds gets into behind the regional segmentation piece of central circle, carry out circular motion with equidistance spiral mode to the central point of geometric shape target area scope in the regional segmentation piece of central circle along the direction of cut-in, after every completion spiral a week motion the interior boundary line of regional segmentation piece or the central point of geometric shape target area scope remove delta R 2 Distance, wherein Δ R 2 A second inward movement distance representing a preset spiral circular motion per week of unmanned aerial vehicle flight; when the unmanned aerial vehicle carries out image acquisition aiming at the side area segmentation block of the oval area range, the unmanned aerial vehicle carries out reciprocating flight to the boundary outside the other side area segmentation range from the boundary outside the one side area segmentation range along the longitudinal direction of the oval area range after the flight access point enters the side area segmentation block, and moves delta R along the boundary outside the other side area segmentation range after finishing one-way motion 3 Distance, wherein Δ R 3 Indicating that the preset unmanned aerial vehicle is flying in a reciprocating mannerAfter completing one-way flight, the moving distance along the boundary outside the region division range on the other side.
A method of data acquisition of the precision mapping system, the method comprising:
acquiring spatial position information of the target area to be drawn through a geographic information system;
performing area planning on the target area to be drawn to form a geometric target area range;
setting the number of unmanned aerial vehicles according to the range of the geometric target area;
planning a shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shape of the geometric target area range;
and controlling the unmanned aerial vehicle to fly according to the shooting path of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to shoot images in the range of the geometric target area.
Further, performing area planning on the target area to be drawn to form a geometric target area range, including:
obtaining an overlook image of the to-be-painted target area according to the spatial position information, and obtaining an edge area line of the to-be-painted target area through the overlook image;
extracting vertexes of all convex parts of the edge region line, and connecting the vertexes of the convex parts to form an initial region;
and according to the shape of the initial region, approximating the shape of the initial region to a circular or elliptical region range including a target region to be drawn, wherein the circular or elliptical region range is a geometric target region range. Wherein the initial region is defined as an elliptical region range when the initial region is shaped close to an elongated shape, and is defined as a circular region range when the initial region is shaped close to a broad polygonal shape.
Further, according to the geometric shape target area scope sets up the unmanned aerial vehicle number, include:
performing region segmentation on the geometric target region range according to a region segmentation rule to obtain a plurality of region segmentation blocks;
and setting the corresponding equal number of unmanned aerial vehicles according to the number of the region dividing blocks.
Further, the region segmentation rule is as follows:
when the geometric target area range is a circular area range, acquiring the area radius of each area by using a first area range determination model, and planning and acquiring N-1 annular area segmentation blocks and 1 central circle area segmentation block through the area radius;
when the geometric target area range is an elliptical area range, acquiring the area radius of each area by using a second area range determination model, and planning N-1 side area segmentation blocks and 1 central circle area segmentation block according to the area radius.
Wherein the first region range determination model is as follows:
Figure DEST_PATH_IMAGE003
wherein,R 01 representing the radius lengths of the central circular region dividing blocks when the geometric target region range is a circular region range;Nrepresenting the total number of the region division blocks;R f represents the radius of the circular area; INT () represents rounding up;nrepresenting the total number of vertices of all convex portions of the edge region line;R min representing the length of a straight-line distance between the circle center of the circular area range and the vertex of the convex part closest to the circle center of the circular area range;R max representing the length of a straight line distance between the circle center of the circular area range and the vertex of the convex part farthest from the circle center of the circular area range;λthe radius adjustment coefficient is represented by a value,λthe value range of (A) is 0.18-0.33;R n-1 indicating the ring radius lengths of all the ring-shaped region segments except the outermost ring-shaped region segment;R n representing a ring radius length of the outermost ring-shaped region segment;
the second region range determination model is as follows:
Figure DEST_PATH_IMAGE004
wherein,R 02 representing the radius lengths of the central circle region partitions when the geometric target region range is an elliptical region range;Nrepresenting the total number of the region division blocks;aandbrespectively representing the major and minor axis dimensions of the convex circular region extent;αit is indicated that the length-adjustment coefficient,αthe value range of (a) is 0.59-0.73;L n-2 the long axis section length corresponding to the side region division blocks except the division blocks at the two ends of the oval region range is represented;L n the long axis pitch length corresponding to the side region segment corresponding to the two end side region segments is shown.
Further, the planning of the unmanned aerial vehicle shooting path according to the number of the unmanned aerial vehicles and the shape of the geometric target area range comprises:
when geometry target area scope is circular region scope, set up every unmanned aerial vehicle's flight access point, wherein, flight access point is in on the zone segmentation piece outer boundary line that every unmanned aerial vehicle corresponds respectively to, the contained angle between every two adjacent flight access pointsα=360 °/M, M representing the total number of drones; make every unmanned aerial vehicle along flight access point gets into the regional segmentation piece within range that corresponds to in following the direction of cut-in regional segmentation piece with equidistance spiral mode to the central point of regional segmentation piece's inner boundary line or geometric shape target area scope carries out circular motion, every completion spiral a week after the motion remove delta R regional segmentation piece's inner boundary line or geometric shape target area scope's central point 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
when the geometric shape target area range is the elliptical area range, setting the flight entry point of each unmanned aerial vehicle, wherein the flight entry points are respectively ellipticalTwo intersection points between the major axis of the circular region and the region boundary, any one of the two intersection points between the minor axis of the elliptical region and the region boundary, and any one of the two intersection points between the boundary of the region dividing block and the region boundary; and, any one of two intersection points between the minor axis of the elliptical region and the region boundary and any one of two intersection points between the region dividing block boundary and the region boundary are opposite in direction; when unmanned aerial vehicle is directed against when the regional segmentation piece of central circle of oval regional scope carries out image acquisition, follow the flight access point that unmanned aerial vehicle corresponds gets into behind the regional segmentation piece of central circle, carry out circular motion with equidistance spiral mode to the central point of geometric shape target area scope in the regional segmentation piece of central circle along the direction of cut-in, after every completion spiral a week motion after the interior boundary line of regional segmentation piece or the central point of geometric shape target area scope remove delta R 2 Distance, wherein Δ R 2 A second inward movement distance representing a preset weekly spiral circular motion of the unmanned aerial vehicle flight; when the unmanned aerial vehicle carries out image acquisition aiming at the side area segmentation block of the oval area range, the unmanned aerial vehicle carries out reciprocating flight to the boundary outside the other side area segmentation range from the boundary outside the one side area segmentation range along the longitudinal direction of the oval area range after the flight access point enters the side area segmentation block, and moves delta R along the boundary outside the other side area segmentation range after finishing one-way motion 3 Distance, wherein Δ R 3 The moving distance of the preset unmanned aerial vehicle flying to the outside of the region division range on the other side after completing one-way flight in the reciprocating flight is shown.
The invention has the beneficial effects that:
according to the accurate surveying and mapping system for statistical data and the data acquisition method thereof, the landform information image is acquired in an unmanned aerial vehicle image shooting mode, and then the surveying and mapping map is acquired, so that the data acquisition efficiency can be effectively improved, and manpower and material resources are saved. Simultaneously, carry out data acquisition and treat the planning of survey and drawing target area's regional segmentation piece number and scope and unmanned aerial vehicle route planning mode through unmanned aerial vehicle and combine together, can effectively improve the comprehensiveness and the accuracy that await measuring and draw target area data acquisition, and, planning through regional segmentation piece number and scope can further combine the actual shape landform structure that awaits measuring the target area to carry out high rationality distribution, and then under the prerequisite that effectively improves data acquisition efficiency and comprehensiveness, effectively reduce unmanned aerial vehicle use quantity, accomplish once only to gather whole landform information, it shoots to need not unmanned aerial vehicle to relapse many times image, further improved digital surveying and drawing efficiency, and effectively reduce resource loss.
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FIG. 1 is a first system block diagram of the system of the present invention;
FIG. 2 is a system block diagram II of the system of the present invention;
FIG. 3 is a flow chart of the method of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides an accurate mapping system for statistical data, as shown in fig. 1, the accurate mapping system includes:
the data acquisition module is used for acquiring image information of a target area to be drawn by controlling the plurality of unmanned aerial vehicles;
the mapping data generation module is used for converting the image information of the target area to be mapped, which is acquired by the unmanned aerial vehicle, into topographic data required by mapping;
and the model generation module is used for counting the mapping data and generating a mapping map corresponding to the target area to be mapped.
The working principle of the technical scheme is as follows: firstly, a data acquisition module is used for acquiring image information of a target area to be drawn by controlling a plurality of unmanned aerial vehicles; then, converting image information of a target area to be drawn acquired by the unmanned aerial vehicle into topographic data required by surveying by using a surveying and mapping data generation module; and finally, counting the mapping data by using a model generation module, and generating a mapping map corresponding to the target area to be mapped.
The effect of the above technical scheme is as follows: the accurate mapping system for statistical data who this embodiment provided acquires the landform information image and then acquires the survey map through unmanned aerial vehicle image shooting mode, can effectively improve data acquisition efficiency, the material resources of using manpower sparingly. Simultaneously, carry out data acquisition and treat the plan of surveying and mapping target area's regional segmentation piece number and scope and unmanned aerial vehicle route planning mode and combine together through unmanned aerial vehicle, can effectively improve the comprehensiveness and the accuracy of surveying and mapping target area data acquisition that await measuring, and, can further carry out high rationality distribution in combination with the actual shape landform structure of awaiting measuring target area through the plan of regional segmentation piece number and scope, and then under the prerequisite that effectively improves data acquisition efficiency and comprehensiveness, effectively reduce unmanned aerial vehicle use quantity, accomplish once only to gather whole landform information, it shoots to need not unmanned aerial vehicle to relapse many times image, further improved digital surveying and mapping efficiency, and effectively reduce resource loss.
In an embodiment of the present invention, as shown in fig. 2, the data acquisition module includes:
the acquisition module is used for acquiring the spatial position information of the target area to be drawn through a geographic information system;
the area planning module is used for carrying out area planning on the target area to be drawn to form a geometric target area range;
the number determining module is used for setting the number of the unmanned aerial vehicles according to the range of the geometric target area;
the path planning module is used for planning the shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shape of the geometric target area range;
and the unmanned aerial vehicle control flight module is used for controlling the unmanned aerial vehicle to fly according to the unmanned aerial vehicle shooting path and controlling the unmanned aerial vehicle to shoot images in a geometric target area range.
Wherein the area planning module comprises:
the edge acquisition module is used for acquiring an overhead image of the to-be-drawn target area according to the spatial position information and acquiring an edge area line of the to-be-drawn target area through the overhead image;
an initial region acquisition module, configured to extract vertices of all convex portions of the edge region line, and connect the vertices of the convex portions to form an initial region;
and the area range forming module is used for approximating the shape of the initial area to a circular or elliptical area range including a target area to be drawn according to the shape of the initial area, wherein the circular or elliptical area range is a geometric target area range.
The working principle of the technical scheme is as follows: the operation process of the data acquisition module comprises the following steps:
firstly, acquiring spatial position information of the target area to be drawn by using an acquisition module through a geographic information system; then, adopting an area planning module for carrying out area planning on the target area to be drawn to form a geometric target area range; then, the number of the unmanned aerial vehicles is set through a number determining module according to the range of the geometric target area; then, planning a shooting path of the unmanned aerial vehicles by adopting a path planning module according to the number of the unmanned aerial vehicles and the shape of the geometric target area range; and finally, controlling the unmanned aerial vehicle to fly according to the shooting path of the unmanned aerial vehicle by using an unmanned aerial vehicle control flight module, and controlling the unmanned aerial vehicle to shoot images in the range of the geometric target area.
The operation process of the area planning module comprises the following steps:
firstly, an edge acquisition module acquires an overhead view image of the target area to be drawn according to the spatial position information, and acquires an edge area line of the target area to be drawn according to the overhead view image;
then, extracting vertexes of all convex parts of the edge region line by using an initial region acquisition module, and connecting the vertexes of the convex parts to form an initial region;
and finally, approximating the shape of the initial region to a circular or elliptical region range including the target region to be drawn by adopting a region range forming module according to the shape of the initial region, wherein the circular or elliptical region range is a geometric target region range.
The effect of the above technical scheme is as follows: carry out data acquisition and treat the planning and unmanned aerial vehicle path planning mode of the regional segmentation piece number and the scope of survey and drawing target area through unmanned aerial vehicle and combine together, can effectively improve the comprehensiveness and the accuracy that await measuring and draw target area data acquisition, and, the planning through regional segmentation piece number and scope can further combine the actual shape landform structure that awaits measuring the target area to carry out high rationality distribution, and then under the prerequisite that effectively improves data acquisition efficiency and comprehensiveness, effectively reduce unmanned aerial vehicle use quantity, accomplish once only to gather whole landform information, it shoots to need not unmanned aerial vehicle to relapse a lot of images, digital surveying and mapping efficiency has further been improved, and effectively reduce the resource loss.
Meanwhile, the subsequent effective area division can be carried out on different types of target areas through the arrangement of two different geometric figure ranges of a circle and an ellipse, so that the geometric target area range can meet the actual condition of the target area to be drawn to the greatest extent, and the comprehensiveness of data acquisition is effectively improved.
In an embodiment of the present invention, the number determining module includes:
the region segmentation module is used for performing region segmentation on the geometric target region range according to a region segmentation rule to obtain a plurality of region segmentation blocks;
the number determining module is used for setting the number of the corresponding equal unmanned aerial vehicles according to the number of the region dividing blocks;
wherein the region segmentation rule is as follows:
when the geometric target area range is a circular area range, acquiring the area radius of each area by using a first area range determination model, and planning and acquiring N-1 annular area segmentation blocks and 1 central circle area segmentation block through the area radius;
when the geometric target area range is an elliptical area range, acquiring the area radius of each area by using a second area range determination model, and planning N-1 side area segmentation blocks and 1 central circle area segmentation block according to the area radius.
Wherein the first region range determination model is as follows:
Figure DEST_PATH_IMAGE005
wherein,R 01 representing the radius lengths of the central circular region dividing blocks when the geometric target region range is a circular region range;Nrepresenting the total number of the region division blocks;R f represents the radius of the circular area; INT () represents rounding up;nrepresenting the total number of vertices of all convex portions of the edge region line;R min representing the length of a straight-line distance between the circle center of the circular area range and the vertex of the convex part closest to the circle center of the circular area range;R max the linear distance length between the circle center of the circular area range and the vertex of the convex part farthest from the circle center of the circular area range is represented;λthe radius adjustment coefficient is represented by a value,λthe value range of (a) is 0.18-0.33;R n-1 indicating the ring radius lengths of all the ring-shaped region segments except the outermost ring-shaped region segment;R n representing a ring radius length of the outermost ring-shaped region segment;
the second region range determination model is as follows:
Figure DEST_PATH_IMAGE006
wherein,R 02 representing the radius lengths of the central circle region partitions when the geometric target region range is an elliptical region range;Nrepresenting the total number of the region division blocks;aandbrespectively representing the length of the convex circular area rangeShaft and minor axis dimensions;αthe length-adjustment coefficient is represented by,αthe value range of (A) is 0.59-0.73;L n-2 the long axis section length corresponding to the side region division blocks except the side region division block at the two ends of the oval region range is represented;L n the long axis pitch length corresponding to the side region segment corresponding to the two end side region segments is shown.
The effect of the above technical scheme is as follows: the region segmentation blocks obtained through the formula can be rapidly and accurately divided according to the actual situation of the geometric target region range, each segmentation block can be enabled to have an effective geographic area range by obtaining the segmentation blocks through the size, and the unmanned aerial vehicle can effectively shoot. Meanwhile, the segmentation block regions obtained through the formula can avoid the problem that the shooting workload of the unmanned aerial vehicle is unevenly distributed due to too small area contained in the segmentation block regions, and further unreasonable resource distribution is generated due to the fact that the smaller segmentation block area is caused by too much area difference of the segmentation block regions. Therefore, the unmanned aerial vehicle utilization rate can be effectively improved and the shooting resource distribution rationality can be effectively improved by obtaining each partition block through the formula, and the incidence rate of resource waste and distribution unevenness is effectively reduced.
On the other hand, the regional scope and the quantity that the segmentation block that obtains through above-mentioned formula contains can carry out the self-adaptation setting according to the actual scope of taking the survey and drawing target, no matter how the shape of drawing the target area that awaits measuring can all carry out effective and comprehensive data acquisition under the unmanned aerial vehicle condition of using fewest through the scope and the number division of above-mentioned segmentation block, effectively improves data acquisition's accuracy and comprehensiveness.
In an embodiment of the present invention, the path planning module includes:
the first path planning module is used for setting flight access points of each unmanned aerial vehicle when the geometric target area range is a circular area range, wherein the flight access points are respectively positioned on outer boundary lines of the area segmentation blocks corresponding to each unmanned aerial vehicle, and included angles between every two adjacent flight access pointsα=360 °/M, M representing a droneThe total number; make every unmanned aerial vehicle along flight access point gets into the regional segmentation block within range that corresponds to along cut into the direction in regional segmentation block with equidistance spiral mode to the central point of regional segmentation block's interior boundary line or geometric shape target area scope carries out circular motion, every completion spiral a week after the motion the central point of regional segmentation block's interior boundary line or geometric shape target area scope removes delta R 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
the second path planning module is used for setting a flight entry point of each unmanned aerial vehicle when the geometric target area range is an elliptical area range, wherein the flight entry points are respectively two intersection points between a major axis of the elliptical area and an area boundary, any one of the two intersection points between a minor axis of the elliptical area and the area boundary, and any one of the two intersection points between a boundary of the area partition block and the area boundary; and, any one of two intersections between the elliptical region minor axis and the region boundary and any one of two intersections between the region dividing block boundary and the region boundary are opposite in direction; when unmanned aerial vehicle is directed against when the regional segmentation piece of central circle of oval regional scope carries out image acquisition, follow the flight access point that unmanned aerial vehicle corresponds gets into behind the regional segmentation piece of central circle, carry out circular motion with equidistance spiral mode to the central point of geometric shape target area scope in the regional segmentation piece of central circle along the direction of cut-in, after every completion spiral a week motion the interior boundary line of regional segmentation piece or the central point of geometric shape target area scope remove delta R 2 Distance, wherein Δ R 2 A second inward movement distance representing a preset weekly spiral circular motion of the unmanned aerial vehicle flight; when the unmanned aerial vehicle carries out image acquisition aiming at the side region partition block of the oval region range, the unmanned aerial vehicle carries out reciprocating flight to the boundary outside the other side region partition range from the boundary outside the one side region partition range along the longitudinal direction of the oval region range after the flight access point enters the side region partition block, and each time the unmanned aerial vehicle carries out image acquisition aiming at the boundary outside the other side region partition rangeAfter completing one single-pass motion, moving delta R outside the segmentation range of the area at the other side along the boundary 3 Distance, wherein Δ R 3 The movement distance of the preset unmanned aerial vehicle flying to the outside of the segmentation range of the area on the other side after completing one-way flight in the reciprocating flight is shown. Wherein, Δ R 1 、ΔR 2 And Δ R 3 The setting can be carried out according to the actual situation of the target area.
The working principle of the technical scheme is as follows: when geometry target area scope is circular region scope, set up every unmanned aerial vehicle's flight access point, wherein, flight access point is in the regional division piece external boundary line that every unmanned aerial vehicle corresponds respectively to, the contained angle between every two adjacent flight access pointsα=360 °/M, M representing the total number of drones; make every unmanned aerial vehicle along flight access point gets into the regional segmentation block within range that corresponds to along cut into the direction in regional segmentation block with equidistance spiral mode to the central point of regional segmentation block's interior boundary line or geometric shape target area scope carries out circular motion, every completion spiral a week after the motion the central point of regional segmentation block's interior boundary line or geometric shape target area scope removes delta R 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
when the geometric target area range is an elliptical area range, setting a flight entry point of each unmanned aerial vehicle, wherein the flight entry points are respectively two intersection points between a major axis of the elliptical area and an area boundary, any one of the two intersection points between a minor axis of the elliptical area and the area boundary, and any one of the two intersection points between a boundary of the area partition block and the area boundary; and, any one of two intersection points between the minor axis of the elliptical region and the region boundary and any one of two intersection points between the region dividing block boundary and the region boundary are opposite in direction; when the unmanned aerial vehicle aims at when the central circle region segmentation block of the oval region range carries out image acquisition, follow the flight access point corresponding to the unmanned aerial vehicle enters the central circle regionAfter the block is divided, circular motion is carried out to the central point of the geometric target area range in an equidistant spiral mode in the central circle area division block along the cutting-in direction, and delta R is moved to the inner boundary line of the area division block or the central point of the geometric target area range after each circle of spiral motion is finished 2 Distance, wherein Δ R 2 A second inward movement distance representing a preset weekly spiral circular motion of the unmanned aerial vehicle flight; when unmanned aerial vehicle is directed against when the side region segmentation piece of oval regional scope carries out image acquisition, unmanned aerial vehicle is in after flight access point gets into the side region segmentation piece, along the longitudinal direction of oval regional scope carries out reciprocal flight to the regional segmentation scope of opposite side outside along the border from the regional segmentation scope of one side outside along the border, after accomplishing once one-way motion every other side regional segmentation scope outside along border removal delta R 3 Distance, wherein Δ R 3 The moving distance of the preset unmanned aerial vehicle flying to the outside of the region division range on the other side after completing one-way flight in the reciprocating flight is shown. Wherein, Δ R 1 、ΔR 2 And Δ R 3 The setting can be carried out according to the actual situation of the target area.
The effect of the above technical scheme is as follows: planning unmanned aerial vehicle flight route through above-mentioned mode, can effectively improving the comprehensiveness that unmanned aerial vehicle shot and data acquisition's comprehensiveness, can guarantee to acquire after unmanned aerial vehicle once only shoots all image information that the target area was painted to await measuring need not unmanned aerial vehicle and carries out secondary or cubic flight. And then under the prerequisite of effectively improving data acquisition efficiency and comprehensiveness, effectively reduce unmanned aerial vehicle use quantity, accomplish once only to gather whole landform information, need not unmanned aerial vehicle and relapse a lot of image shooting, further improved digital survey and drawing efficiency to effectively reduce the resource loss. Simultaneously, the mutual interference that unmanned aerial vehicle shot between two adjacent segmentation block regions can be effectively reduced through the setting in above-mentioned route, and then improve the operating stability that unmanned aerial vehicle flight was shot, effectively reduce the emergence of shooting the accident, and then improve data acquisition's efficiency.
The embodiment of the invention provides a data acquisition method of the precise mapping system, and as shown in fig. 3, the method includes:
s1, acquiring spatial position information of the target area to be drawn through a geographic information system;
s2, performing area planning on the target area to be drawn to form a geometric target area range;
s3, setting the number of the unmanned aerial vehicles according to the range of the geometric target area;
s4, planning a shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shape of the geometric target area range;
and S5, controlling the unmanned aerial vehicle to fly according to the shooting path of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to shoot images in the range of the geometric target area.
The working principle of the technical scheme is as follows: firstly, acquiring spatial position information of the target area to be drawn through a geographic information system; then, carrying out area planning on the target area to be drawn to form a geometric target area range; then, setting the number of the unmanned aerial vehicles according to the range of the geometric target area; then, planning a shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shape of the geometric target area range; and finally, controlling the unmanned aerial vehicle to fly according to the shooting path of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to shoot images in the range of the geometric target area.
The effect of the above technical scheme is: according to the data acquisition method of the accurate mapping system for statistical data, the landform information image is acquired in the unmanned aerial vehicle image shooting mode, and then the mapping map is acquired, so that the data acquisition efficiency can be effectively improved, and manpower and material resources are saved. Simultaneously, carry out data acquisition and treat the planning of survey and drawing target area's regional segmentation piece number and scope and unmanned aerial vehicle route planning mode through unmanned aerial vehicle and combine together, can effectively improve the comprehensiveness and the accuracy that await measuring and draw target area data acquisition, and, planning through regional segmentation piece number and scope can further combine the actual shape landform structure that awaits measuring the target area to carry out high rationality distribution, and then under the prerequisite that effectively improves data acquisition efficiency and comprehensiveness, effectively reduce unmanned aerial vehicle use quantity, accomplish once only to gather whole landform information, it shoots to need not unmanned aerial vehicle to relapse many times image, further improved digital surveying and drawing efficiency, and effectively reduce resource loss.
In an embodiment of the present invention, performing area planning on the target area to be drawn to form a geometric target area range includes:
s201, obtaining an overhead view image of the to-be-drawn target area according to the spatial position information, and obtaining an edge area line of the to-be-drawn target area through the overhead view image;
s202, extracting vertexes of all convex parts of the edge region line, and connecting the vertexes of the convex parts to form an initial region;
s203, according to the shape of the initial region, approximating the shape of the initial region to a circular or elliptical region range including a target region to be drawn, wherein the circular or elliptical region range is a geometric target region range. Wherein, the initial area shape is close to the ellipse area scope planned when long and thin shape, and the initial area shape is close to the wide polygon shape and is planned as the circle area scope.
The working principle of the technical scheme is as follows: firstly, obtaining an overlook image of the to-be-painted target area according to the spatial position information, and obtaining an edge area line of the to-be-painted target area through the overlook image; then, extracting the vertexes of all the convex parts of the edge region line, and connecting the vertexes of the convex parts to form an initial region; and then, according to the shape of the initial region, approximating the shape of the initial region to a circular or elliptical region range including a target region to be drawn, wherein the circular or elliptical region range is a geometric target region range. Wherein the initial region is defined as an elliptical region range when the initial region is shaped close to an elongated shape, and is defined as a circular region range when the initial region is shaped close to a broad polygonal shape.
The effect of the above technical scheme is as follows: carry out data acquisition and treat the planning and unmanned aerial vehicle path planning mode of the regional segmentation piece number and the scope of survey and drawing target area through unmanned aerial vehicle and combine together, can effectively improve the comprehensiveness and the accuracy that await measuring and draw target area data acquisition, and, the planning through regional segmentation piece number and scope can further combine the actual shape landform structure that awaits measuring the target area to carry out high rationality distribution, and then under the prerequisite that effectively improves data acquisition efficiency and comprehensiveness, effectively reduce unmanned aerial vehicle use quantity, accomplish once only to gather whole landform information, it shoots to need not unmanned aerial vehicle to relapse a lot of images, digital surveying and mapping efficiency has further been improved, and effectively reduce the resource loss.
Meanwhile, the subsequent effective area division can be carried out on different types of target areas through the arrangement of two different geometric figure ranges of a circle and an ellipse, so that the geometric target area range can meet the actual condition of the target area to be drawn to the greatest extent, and the comprehensiveness of data acquisition is effectively improved.
According to one embodiment of the invention, the number of the unmanned aerial vehicles is set according to the range of the geometric target area, which comprises the following steps:
s301, performing region segmentation on the geometric target region range according to a region segmentation rule to obtain a plurality of region segmentation blocks;
s302, correspondingly equal number of unmanned aerial vehicles is set according to the number of the region dividing blocks.
Wherein the region segmentation rule is as follows:
when the geometric target area range is a circular area range, acquiring the area radius of each area by using a first area range determination model, and planning and acquiring N-1 annular area segmentation blocks and 1 central circle area segmentation block through the area radius;
when the geometric target area range is an elliptical area range, acquiring the area radius of each area by using a second area range determination model, and planning N-1 side area segmentation blocks and 1 central circle area segmentation block according to the area radius.
Wherein the first region range determination model is as follows:
Figure DEST_PATH_IMAGE007
wherein,R 01 representing the radius lengths of the central circle region dividing blocks when the geometric target region range is a circular region range;Nrepresenting the total number of the region division blocks;R f a radius representing the extent of the circular region; INT () represents rounding up;nrepresenting the total number of vertices of all convex portions of the edge region line;R min representing the length of a straight-line distance between the circle center of the circular area range and the vertex of the convex part closest to the circle center of the circular area range;R max representing the length of a straight line distance between the circle center of the circular area range and the vertex of the convex part farthest from the circle center of the circular area range;λthe radius adjustment coefficient is represented by a value,λthe value range of (A) is 0.18-0.33;R n-1 indicating the ring radius lengths of all the ring-shaped region segments except the outermost ring-shaped region segment;R n representing a ring radius length of the outermost ring-shaped region segment;
the second region range determination model is as follows:
Figure DEST_PATH_IMAGE008
wherein,R 02 representing the radius lengths of the central circle region segmentation blocks when the geometric target region range is an elliptical region range;Nrepresenting the total number of the region division blocks;aandbrespectively representing the major and minor axis dimensions of the convex circular region extent;αthe length-adjustment coefficient is represented by,αthe value range of (A) is 0.59-0.73;L n-2 the long axis section length corresponding to the side region division blocks except the side region division block at the two ends of the oval region range is represented;L n side region segments corresponding to the most end side region segmentsThe length of the corresponding long shaft is selected.
The effect of the above technical scheme is as follows: the region segmentation blocks obtained through the formula can be divided quickly and accurately according to the actual situation of the geometric target region range, and each segmentation block can be enabled to have an effective geographic area range through the size of the obtained segmentation blocks, so that the unmanned aerial vehicle can effectively shoot. Meanwhile, the segmentation block regions obtained through the formula can avoid the problem that the shooting workload of the unmanned aerial vehicle is unevenly distributed due to too small area contained in the segmentation block regions, and further unreasonable resource distribution is generated due to the fact that the smaller segmentation block area is caused by too much area difference of the segmentation block regions. Therefore, the unmanned aerial vehicle utilization rate can be effectively improved and the shooting resource distribution rationality can be effectively improved by obtaining each partition block through the formula, and the incidence rate of resource waste and distribution unevenness is effectively reduced.
On the other hand, the regional scope and the quantity that the segmentation block that obtains through above-mentioned formula contains can carry out the self-adaptation setting according to the actual scope of taking the survey and drawing target, no matter how the shape of drawing the target area that awaits measuring can all carry out effective and comprehensive data acquisition under the unmanned aerial vehicle condition of using fewest through the scope and the number division of above-mentioned segmentation block, effectively improves data acquisition's accuracy and comprehensiveness.
According to an embodiment of the present invention, the planning of the shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shape of the geometric target area range includes:
s401, when the geometric shape target area range is the circular area range, the flight access point of each unmanned aerial vehicle is set, wherein the flight access points are respectively positioned on the outer boundary lines of the area segmentation blocks corresponding to each unmanned aerial vehicle, and the included angle between every two adjacent flight access pointsα=360 °/M, M representing the total number of drones; make every unmanned aerial vehicle along flight access point gets into in the regional segmentation block scope that corresponds to carry out circular motion with equidistance spiral mode in regional segmentation block to the central point of regional segmentation block's inner boundary line or geometric shape target area scope along the direction of cut-inMoving an inner boundary line of the region division block or a central point of a geometric target region range by Δ R every time a spiral motion is completed by one turn 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
s402, when the geometric target area range is an elliptical area range, setting a flight entry point of each unmanned aerial vehicle, wherein the flight entry points are respectively two intersection points between a major axis of the elliptical area and an area boundary, any one of the two intersection points between a minor axis of the elliptical area and the area boundary, and any one of the two intersection points between a boundary of the area partition block and the area boundary; and, any one of two intersections between the elliptical region minor axis and the region boundary and any one of two intersections between the region dividing block boundary and the region boundary are opposite in direction; when unmanned aerial vehicle is directed against when the regional segmentation piece of central circle of oval regional scope carries out image acquisition, follow the flight access point that unmanned aerial vehicle corresponds gets into behind the regional segmentation piece of central circle, carry out circular motion with equidistance spiral mode to the central point of geometric shape target area scope in the regional segmentation piece of central circle along the direction of cut-in, after every completion spiral a week motion the interior boundary line of regional segmentation piece or the central point of geometric shape target area scope remove delta R 2 Distance, wherein Δ R 2 A second inward movement distance representing a preset spiral circular motion per week of unmanned aerial vehicle flight; when the unmanned aerial vehicle carries out image acquisition aiming at the side area segmentation block of the oval area range, the unmanned aerial vehicle carries out reciprocating flight to the boundary outside the other side area segmentation range from the boundary outside the one side area segmentation range along the longitudinal direction of the oval area range after the flight access point enters the side area segmentation block, and moves delta R along the boundary outside the other side area segmentation range after finishing one-way motion 3 Distance, wherein Δ R 3 The moving distance of the preset unmanned aerial vehicle flying to the outside of the region division range on the other side after completing one-way flight in the reciprocating flight is shown.
The working principle of the technical scheme is as follows: firstly, when the geometric shape target area range is the circular area range, the flight access point of each unmanned aerial vehicle is set, wherein the flight access points are respectively positioned on the outer boundary line of the area segmentation block corresponding to each unmanned aerial vehicle, and the included angle between every two adjacent flight access pointsα=360 °/M, M representing the total number of drones; make every unmanned aerial vehicle along flight access point gets into the regional segmentation block within range that corresponds to along cut into the direction in regional segmentation block with equidistance spiral mode to the central point of regional segmentation block's interior boundary line or geometric shape target area scope carries out circular motion, every completion spiral a week after the motion the central point of regional segmentation block's interior boundary line or geometric shape target area scope removes delta R 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
then, when the geometric target area range is an elliptical area range, setting a flight entry point of each unmanned aerial vehicle, wherein the flight entry points are respectively two intersection points between a major axis of the elliptical area and the area boundary, any one of the two intersection points between a minor axis of the elliptical area and the area boundary, and any one of the two intersection points between a boundary of the area division block and the area boundary; and, any one of two intersection points between the minor axis of the elliptical region and the region boundary and any one of two intersection points between the region dividing block boundary and the region boundary are opposite in direction; when unmanned aerial vehicle is directed against when the regional segmentation piece of central circle of oval regional scope carries out image acquisition, follow the flight access point that unmanned aerial vehicle corresponds gets into behind the regional segmentation piece of central circle, carry out circular motion with equidistance spiral mode to the central point of geometric shape target area scope in the regional segmentation piece of central circle along the direction of cut-in, after every completion spiral a week motion the interior boundary line of regional segmentation piece or the central point of geometric shape target area scope remove delta R 2 Distance, wherein Δ R 2 Indicating a predetermined spiral circular motion per week of unmanned aerial vehicle flightA second inward movement distance; when unmanned aerial vehicle is directed against when the side region segmentation piece of oval regional scope carries out image acquisition, unmanned aerial vehicle is in after flight access point gets into the side region segmentation piece, along the longitudinal direction of oval regional scope carries out reciprocal flight to the regional segmentation scope of opposite side outside along the border from the regional segmentation scope of one side outside along the border, after accomplishing once one-way motion every other side regional segmentation scope outside along border removal delta R 3 Distance, wherein Δ R 3 The movement distance of the preset unmanned aerial vehicle flying to the outside of the segmentation range of the area on the other side after completing one-way flight in the reciprocating flight is shown.
The effect of the above technical scheme is: planning unmanned aerial vehicle flight route through above-mentioned mode, can effectively improving the comprehensiveness that unmanned aerial vehicle shot and data acquisition's comprehensiveness, can guarantee to acquire after unmanned aerial vehicle once only shoots whole image information that the target area was painted to the await measuring need not unmanned aerial vehicle and carries out secondary or cubic flight. And then under the prerequisite of effectively improving data acquisition efficiency and comprehensiveness, effectively reduce unmanned aerial vehicle use quantity, accomplish once only to gather whole landform information, need not unmanned aerial vehicle and repeat a lot of image shooting, further improved digital surveying and mapping efficiency to effectively reduce the resource loss. Simultaneously, the mutual interference that unmanned aerial vehicle shot between two adjacent segmentation block regions can effectively be reduced through the setting on above-mentioned route, and then improve the operating stability that unmanned aerial vehicle flight was shot, effectively reduce the emergence of shooting accident, and then improve data acquisition's efficiency.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (7)

1. An accurate mapping system for statistical data, the accurate mapping system comprising:
the data acquisition module is used for acquiring image information of a target area to be drawn by controlling the plurality of unmanned aerial vehicles;
the mapping data generation module is used for converting the image information of the target area to be mapped, acquired by the unmanned aerial vehicle, into topographic data required by mapping;
the model generation module is used for counting the mapping data and generating a mapping map corresponding to the target area to be mapped;
wherein, the data acquisition module includes:
the acquisition module is used for acquiring the spatial position information of the target area to be drawn through a geographic information system;
the area planning module is used for carrying out area planning on the target area to be drawn to form a geometric target area range;
the number determining module is used for setting the number of the unmanned aerial vehicles according to the range of the geometric target area;
the path planning module is used for planning the shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shapes of the geometric target area ranges;
the unmanned aerial vehicle control flight module is used for controlling the unmanned aerial vehicle to fly according to the unmanned aerial vehicle shooting path and controlling the unmanned aerial vehicle to shoot images in a geometric target area range;
the area planning module comprises:
the edge acquisition module is used for acquiring an overlook image of the to-be-painted target area according to the spatial position information and acquiring an edge area line of the to-be-painted target area through the overlook image;
an initial region acquisition module, configured to extract vertexes of all convex portions of the edge region line, and connect the vertexes of the convex portions to form an initial region;
the area range forming module is used for approximating the shape of the initial area to a circular or elliptical area range including a target area to be drawn according to the shape of the initial area, wherein the circular or elliptical area range is a geometric target area range;
the number determination module includes:
the region segmentation module is used for performing region segmentation on the geometric target region range according to a region segmentation rule to obtain a plurality of region segmentation blocks;
the number determining module is used for setting the number of corresponding equal unmanned aerial vehicles according to the number of the region dividing blocks;
wherein the region segmentation rule is as follows:
when the geometric target area range is a circular area range, acquiring the area radius of each area by using a first area range determination model, and planning and acquiring N-1 annular area segmentation blocks and 1 central circle area segmentation block through the area radius;
when the geometric target area range is an elliptical area range, obtaining the area radius of each area by using a second area range determination model, and planning N-1 side area segmentation blocks and 1 central circle area segmentation block according to the area radius.
2. The accurate mapping system of claim 1, wherein the path planning module comprises:
the first path planning module is used for setting flight access points of each unmanned aerial vehicle when the geometric target area range is a circular area range, wherein the flight access points are respectively positioned on outer boundary lines of the area segmentation blocks corresponding to each unmanned aerial vehicle, and included angles between every two adjacent flight access pointsα=360 °/M, M representing the total number of drones; make every unmanned aerial vehicle along flight access point gets into the regional segmentation block within range that corresponds to along cut into the direction in regional segmentation block with equidistance spiral mode to the central point of regional segmentation block's interior boundary line or geometric shape target area scope carries out circular motion, every completion spiral a week after the motion the central point of regional segmentation block's interior boundary line or geometric shape target area scope removes delta R 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
route planning modelA second block, configured to set a flight entry point of each unmanned aerial vehicle when the geometric target area range is an elliptical area range, where the flight entry points are any one of two intersection points between a major axis of the elliptical area and an area boundary, any one of two intersection points between a minor axis of the elliptical area and the area boundary, and any one of two intersection points between a boundary of the area division block and the area boundary, respectively; and, any one of two intersections between the elliptical region minor axis and the region boundary and any one of two intersections between the region dividing block boundary and the region boundary are opposite in direction; when unmanned aerial vehicle is directed against when the regional segmentation piece of central circle of oval regional scope carries out image acquisition, follow the flight access point that unmanned aerial vehicle corresponds gets into behind the regional segmentation piece of central circle, carry out circular motion with equidistance spiral mode to the central point of geometric shape target area scope in the regional segmentation piece of central circle along the direction of cut-in, after every completion spiral a week motion after the interior boundary line of regional segmentation piece or the central point of geometric shape target area scope remove delta R 2 Distance, wherein Δ R 2 A second inward movement distance representing a preset spiral circular motion per week of unmanned aerial vehicle flight; when the unmanned aerial vehicle carries out image acquisition aiming at the side area segmentation block of the oval area range, the unmanned aerial vehicle carries out reciprocating flight to the boundary outside the other side area segmentation range from the boundary outside the one side area segmentation range along the longitudinal direction of the oval area range after the flight access point enters the side area segmentation block, and moves delta R along the boundary outside the other side area segmentation range after finishing one-way motion 3 Distance, wherein Δ R 3 The movement distance of the preset unmanned aerial vehicle flying to the outside of the segmentation range of the area on the other side after completing one-way flight in the reciprocating flight is shown.
3. A method of data acquisition for an accurate mapping system as claimed in claim 1, the method comprising:
acquiring spatial position information of the target area to be drawn through a geographic information system;
performing area planning on the target area to be drawn to form a geometric target area range;
setting the number of unmanned aerial vehicles according to the range of the geometric target area;
planning a shooting path of the unmanned aerial vehicles according to the number of the unmanned aerial vehicles and the shape of the geometric target area range;
and controlling the unmanned aerial vehicle to fly according to the shooting path of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to shoot images in the range of the geometric target area.
4. The data acquisition method of claim 3, wherein performing area planning on the target area to be mapped to form a geometric target area range comprises:
obtaining an overlook image of the to-be-painted target area according to the spatial position information, and obtaining an edge area line of the to-be-painted target area through the overlook image;
extracting vertexes of all convex parts of the edge region line, and connecting the vertexes of the convex parts to form an initial region;
and according to the shape of the initial region, approximating the shape of the initial region to a circular or elliptical region range including a target region to be drawn, wherein the circular or elliptical region range is a geometric target region range.
5. The data acquisition method of claim 3, wherein the setting of the number of drones according to the geometric target area comprises:
performing region segmentation on the geometric target region range according to a region segmentation rule to obtain a plurality of region segmentation blocks;
and setting the corresponding equal number of unmanned aerial vehicles according to the number of the region dividing blocks.
6. The data acquisition method according to claim 5, wherein the region segmentation rule is:
when the geometric target area range is a circular area range, acquiring the area radius of each area by using a first area range determination model, and planning and acquiring N-1 annular area segmentation blocks and 1 central circle area segmentation block through the area radius;
when the geometric target area range is an elliptical area range, obtaining the area radius of each area by using a second area range determination model, and planning N-1 side area segmentation blocks and 1 central circle area segmentation block according to the area radius.
7. The data acquisition method of claim 3, wherein the planning of the unmanned aerial vehicle shooting path according to the number of the unmanned aerial vehicles and the shape of the geometric target area range comprises:
when geometry target area scope is circular region scope, set up every unmanned aerial vehicle's flight access point, wherein, flight access point is in the regional division piece external boundary line that every unmanned aerial vehicle corresponds respectively to, the contained angle between every two adjacent flight access pointsα=360 °/M, M representing the total number of drones; make every unmanned aerial vehicle along flight access point gets into the regional segmentation block within range that corresponds to along cut into the direction in regional segmentation block with equidistance spiral mode to the central point of regional segmentation block's interior boundary line or geometric shape target area scope carries out circular motion, every completion spiral a week after the motion the central point of regional segmentation block's interior boundary line or geometric shape target area scope removes delta R 1 Distance, wherein Δ R 1 Representing a preset first inward movement distance of the spiral circular motion of each week of the unmanned aerial vehicle flight;
when the geometric shape target area range is the elliptical shape area range, a flight entry point of each unmanned aerial vehicle is set, wherein the flight entry points are respectively any one of two intersection points between the elliptical shape area major axis and the area boundary, any one of two intersection points between the elliptical shape area minor axis and the area boundary, and any one of two intersection points between the area dividing block dividing line and the area boundaryPoint; and, any one of two intersections between the elliptical region minor axis and the region boundary and any one of two intersections between the region dividing block boundary and the region boundary are opposite in direction; when unmanned aerial vehicle is directed against when the regional segmentation piece of central circle of oval regional scope carries out image acquisition, follow the flight access point that unmanned aerial vehicle corresponds gets into behind the regional segmentation piece of central circle, carry out circular motion with equidistance spiral mode to the central point of geometric shape target area scope in the regional segmentation piece of central circle along the direction of cut-in, after every completion spiral a week motion the interior boundary line of regional segmentation piece or the central point of geometric shape target area scope remove delta R 2 Distance, wherein Δ R 2 A second inward movement distance representing a preset spiral circular motion per week of unmanned aerial vehicle flight; when the unmanned aerial vehicle carries out image acquisition aiming at the side area segmentation block of the oval area range, the unmanned aerial vehicle carries out reciprocating flight to the boundary outside the other side area segmentation range from the boundary outside the one side area segmentation range along the longitudinal direction of the oval area range after the flight access point enters the side area segmentation block, and moves delta R along the boundary outside the other side area segmentation range after finishing one-way motion 3 Distance, wherein Δ R 3 The moving distance of the preset unmanned aerial vehicle flying to the outside of the region division range on the other side after completing one-way flight in the reciprocating flight is shown.
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