CN115046533A - Building surveying and mapping method, system, medium and equipment based on unmanned aerial vehicle remote sensing - Google Patents
Building surveying and mapping method, system, medium and equipment based on unmanned aerial vehicle remote sensing Download PDFInfo
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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
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The application relates to a building surveying and mapping method, a building surveying and mapping system, a building surveying and mapping medium and building surveying and mapping equipment based on unmanned aerial vehicle remote sensing, wherein the building surveying and mapping method comprises the following steps: acquiring fault information of a master unmanned aerial vehicle; judging whether the fault information of the primary unmanned aerial vehicle is flight fault information or not; if the flight fault information is obtained, starting a sub unmanned aerial vehicle installed on the master unmanned aerial vehicle and releasing the fixation of the sub unmanned aerial vehicle; disconnecting wireless remote control communication with the master unmanned aerial vehicle and establishing wireless remote control communication with the slave unmanned aerial vehicle; and controlling the sub-unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping. This application is when female unmanned aerial vehicle breaks down in flight, and the accessible is opened sub-unmanned aerial vehicle's mode and is continued to carry out the building survey and drawing, need not spend time to overhaul the trouble or restart a new unmanned aerial vehicle, can guarantee going on smoothly to the building survey and drawing to surveying and drawing efficiency has been improved.
Description
Technical Field
The application relates to the technical field of building surveying and mapping, in particular to a building surveying and mapping method, system, medium and equipment based on unmanned aerial vehicle remote sensing.
Background
The unmanned aerial vehicle remote sensing is an application technology which can automatically, intelligently and specially and quickly acquire space remote sensing information such as national resources, natural environments, earthquake disaster areas and the like and complete remote sensing data processing, modeling and application analysis by utilizing an advanced unmanned aerial vehicle technology, a remote sensing sensor technology, a remote sensing remote control technology, a communication technology, a GPS differential positioning technology and a remote sensing application technology. The image control point precision of the unmanned remote sensing technology is higher, some dead angles in surveying and mapping and concealed places can be surveyed, so that the integrality and comprehensiveness of surveying and mapping are improved, and an effective foundation is laid for engineering.
To the correlation technique among the above-mentioned, at present, the building survey and drawing of unmanned aerial vehicle remote sensing is used comparatively extensively, and unmanned aerial vehicle is from taking camera image transmission equipment, comes the image with microwave or data transfer radio station or with the satellite, but current unmanned aerial vehicle when the survey and drawing of flying, the flight trouble can appear and lead to the unmanned aerial vehicle out of control the condition to take place, just at this moment need spend time go detect unmanned aerial vehicle trouble or restart a new unmanned aerial vehicle, lead to the plotting efficiency very low.
Disclosure of Invention
In order to improve the mapping efficiency, the application provides a building mapping method based on unmanned aerial vehicle remote sensing.
In a first aspect of the present application, a building surveying and mapping method based on unmanned aerial vehicle remote sensing is provided, which adopts the following technical scheme:
a building surveying and mapping method based on unmanned aerial vehicle remote sensing comprises the following steps:
acquiring fault information of a master unmanned aerial vehicle;
judging whether the fault information of the primary unmanned aerial vehicle is flight fault information or not;
if the flight fault information is obtained, starting a sub unmanned aerial vehicle installed on the master unmanned aerial vehicle and releasing the fixation of the sub unmanned aerial vehicle;
disconnecting wireless remote control communication with the master unmanned aerial vehicle and establishing wireless remote control communication with the slave unmanned aerial vehicle;
and controlling the sub-unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping.
Through adopting above-mentioned technical scheme, when female unmanned aerial vehicle breaks down in flight, the accessible is opened sub-unmanned aerial vehicle's mode and is continued to carry out the building survey and drawing, need not spend time to overhaul the trouble or restart a new unmanned aerial vehicle, can guarantee going on smoothly to the building survey and drawing to surveying and drawing efficiency has been improved.
Preferably, after judging whether the fault information of the parent unmanned aerial vehicle is flight fault information, the method further comprises the following steps: if the fault information is not flight fault information, judging whether the fault information of the primary unmanned aerial vehicle is shooting fault information; if the camera shooting fault information is obtained, the master unmanned aerial vehicle and the slave unmanned aerial vehicle are communicated and connected to carry out surveying and mapping through the camera of the slave unmanned aerial vehicle.
Through adopting above-mentioned technical scheme, if not flight trouble but when making a video recording the trouble, just need not separate primary and secondary unmanned aerial vehicle, also need not return mother's man-machine ground and detect the camera trouble, but directly open son unmanned aerial vehicle's camera, can practice thrift the survey and drawing time.
Preferably, in releasing the fixation of the sub-drone, the method further includes the steps of: the electro-magnet outage on the female unmanned aerial vehicle of control makes it no longer adsorb son unmanned aerial vehicle.
Through adopting above-mentioned technical scheme, primary and secondary unmanned aerial vehicle passes through the electro-magnet and couples, and when female unmanned aerial vehicle broke down, the electro-magnet outage on the female unmanned aerial vehicle of will controlling just can realize the separation of secondary unmanned aerial vehicle and female unmanned aerial vehicle, and the separation mode is simple fast.
Preferably, before the wireless remote control communication with the parent unmanned aerial vehicle is disconnected and the wireless remote control communication with the child unmanned aerial vehicle is established, the method further comprises the following steps: and controlling the master unmanned aerial vehicle to enter a preset landing mode so as to slowly descend to the ground.
Through adopting above-mentioned technical scheme, after female unmanned aerial vehicle takes place the flight trouble, under disconnection and female unmanned aerial vehicle's wireless remote control communication, female unmanned aerial vehicle advances preset descending mode automatically, and the speed that can the descending of the female unmanned aerial vehicle of effectual control falls to female unmanned aerial vehicle descending loss to minimumly.
Preferably, after the master unmanned aerial vehicle is controlled to enter the preset landing mode, the method further comprises the following steps:
the opening of audible and visual alarm of the mother unmanned aerial vehicle is controlled, so that the mother unmanned aerial vehicle can send out audible and visual alarm signals when descending.
Through adopting above-mentioned technical scheme, when female unmanned aerial vehicle descends, open audible-visual annunciator for female unmanned aerial vehicle sends out two kinds of alarm signal of sound, light in the descending simultaneously, lets the people on ground can see light alarm information and hear sound alarm information, can effectively dodge female unmanned aerial vehicle's descending, and audible-visual annunciator also makes things convenient for personnel to find the female unmanned aerial vehicle who descends simultaneously.
Preferably, after the master unmanned aerial vehicle is controlled to enter the preset landing mode, the method further comprises the following steps: and acquiring a positioning signal of the mother unmanned aerial vehicle, and determining the specific position of the mother unmanned aerial vehicle according to the positioning signal.
Through adopting above-mentioned technical scheme, after female unmanned aerial vehicle fell, probably fell to the inconvenient personnel of the relatively hidden place and find, female unmanned aerial vehicle's of accessible locating signal found female unmanned aerial vehicle's specific position.
Preferably, after the sub-drone is controlled to enter the preset mapping mode to continue building mapping, the method further comprises the following steps: obtaining mapping image information; building a building surveying and mapping model according to the surveying and mapping image information; comparing the mapping image information with a preset standard mapping image, and judging whether crack information exists on the mapping image; if there is fracture information, the fracture information is matched into the architectural mapping model so that the personnel know the specific location of the fracture.
By adopting the technical scheme, whether crack information exists can be judged by comparing the acquired mapping image information with a preset standard mapping image, and the crack information is matched with a building mapping model so that personnel can know the specific position of the crack, and the building can be repaired in the following process.
In a second aspect of the application, a system of a building surveying and mapping method based on unmanned aerial vehicle remote sensing is provided.
A system of building surveying and mapping method based on unmanned aerial vehicle remote sensing comprises the following steps:
the fault information acquisition module is used for acquiring fault information of the primary unmanned aerial vehicle;
the fault information judging module is used for judging whether the fault information of the primary unmanned aerial vehicle is flight fault information;
the child unmanned aerial vehicle fixing releasing module is used for starting the child unmanned aerial vehicle installed on the mother unmanned aerial vehicle and releasing the fixation of the child unmanned aerial vehicle if the flight fault information is available;
the communication module of the son unmanned aerial vehicle is established and used for disconnecting the wireless remote control communication with the mother unmanned aerial vehicle and establishing the wireless remote control communication with the son unmanned aerial vehicle;
and the control module is used for controlling the sub-unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping.
In a third aspect of the present application, a computer storage medium is provided, which adopts the following technical solutions:
a computer storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor and to carry out the above-mentioned method steps.
In a fourth aspect of the present application, an electronic device is provided, which adopts the following technical solutions:
an electronic device includes: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the primary unmanned aerial vehicle has flight faults, building surveying and mapping can be continuously carried out in a mode of starting the secondary unmanned aerial vehicle, time is not spent on fault maintenance or a new unmanned aerial vehicle is not required to be restarted, smooth building surveying and mapping can be guaranteed, and surveying and mapping efficiency is improved;
2. according to the method, after the primary unmanned aerial vehicle has a flight fault, the primary unmanned aerial vehicle automatically enters a preset landing mode under the condition that the wireless remote control communication with the primary unmanned aerial vehicle is disconnected, so that the landing speed of the primary unmanned aerial vehicle can be effectively controlled, and the landing loss of the primary unmanned aerial vehicle is reduced to the minimum;
3. according to the method and the device, whether crack information exists can be judged by comparing the acquired mapping image information with the preset standard mapping image, and the crack information is matched with the building mapping model so that personnel can know the specific position of the crack, and the building can be repaired in the following process.
Drawings
Fig. 1 is a schematic flow chart of a building surveying and mapping method based on unmanned aerial vehicle remote sensing according to an embodiment of the present application;
fig. 2 is a schematic diagram of a system module of a building surveying and mapping method based on unmanned aerial vehicle remote sensing according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Description of reference numerals: 1. a module for acquiring fault information; 2. a fault information judging module; 3. the sub-unmanned aerial vehicle fixing module is removed; 4. establishing a sub unmanned aerial vehicle communication module; 5. a control module; 1000. an electronic device; 1001. a processor; 1002. a communication bus; 1003. a user interface; 1004. a network interface; 1005. a memory.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The embodiment of the application discloses a building surveying and mapping method based on unmanned aerial vehicle remote sensing. Referring to fig. 1, a building surveying and mapping method based on unmanned aerial vehicle remote sensing includes:
s1: acquiring fault information of a master unmanned aerial vehicle;
specifically, when female unmanned aerial vehicle flight survey and drawing, thereby can appear leading to female unmanned aerial vehicle driving system out of control or female unmanned aerial vehicle makes a video recording the condition that the trouble can not accurately carry out the survey and drawing because of female unmanned aerial vehicle self flight trouble. Wherein female unmanned aerial vehicle is last to install various sensors, for example voltage sensor, current sensor, temperature sensor and attitude sensor, if the data that a certain sensor detected is not in its corresponding predetermined standard range, then explain that female unmanned aerial vehicle breaks down, will generate corresponding fault information, and female unmanned aerial vehicle will send fault information to the intelligent end through wireless communication's mode this moment. The number of the preset standard ranges corresponding to the sensors is multiple, and the standard ranges of various sensors can be set according to the actual situation.
Such as: female unmanned aerial vehicle is at the flight in-process, and attitude sensor can detect the inclination angle information that female unmanned aerial vehicle flies, judges whether inclination angle information is in predetermined numerical range, if inclination angle information is not in predetermined numerical range, then can judge for female unmanned aerial vehicle breaks down, sends the fault information that inclination angle corresponds to the intelligent end.
S2: judging whether the fault information of the primary unmanned aerial vehicle is flight fault information or not;
specifically, after receiving the fault information, the intelligent terminal judges whether the fault information is flight fault information according to a preset fault category table, wherein the fault category table comprises the fault information and a fault category corresponding to the fault information. For example, the fault information corresponding to the inclination angle is determined as the flight fault by the intelligent terminal if the fault type corresponding to the fault information is the flight fault; if the fault type corresponding to the fault information is a heat dissipation fault, the intelligent terminal judges the fault information to be other fault information; and the fault information corresponding to the camera, the voltage and the current is the camera fault corresponding to the fault type.
S3: if the flight fault information is obtained, starting a sub unmanned aerial vehicle installed on the master unmanned aerial vehicle and releasing the fixation of the sub unmanned aerial vehicle;
specifically, the primary unmanned aerial vehicle and the secondary unmanned aerial vehicle are fixedly connected through an electromagnet on the primary unmanned aerial vehicle, the electromagnet is coupled with a control system in the primary unmanned aerial vehicle and is controlled by an intelligent end, when flight fault information of the primary unmanned aerial vehicle is acquired, the primary unmanned aerial vehicle is in an out-of-control state, the primary unmanned aerial vehicle immediately establishes communication connection with the secondary unmanned aerial vehicle and activates the secondary unmanned aerial vehicle, the secondary unmanned aerial vehicle starts to operate, the intelligent end immediately controls the electromagnet on the primary unmanned aerial vehicle to be powered off, the electromagnet does not suck the aconite unmanned aerial vehicle any more, and the fixed connection between the primary unmanned aerial vehicle and the secondary unmanned aerial vehicle is released;
s4: disconnecting wireless remote control communication with the master unmanned aerial vehicle and establishing wireless remote control communication with the slave unmanned aerial vehicle;
specifically, after the intelligent terminal received flight fault information, the intelligent terminal disconnection and female unmanned aerial vehicle's wireless remote control communication, the remote control right of intelligent terminal is by the sub-unmanned aerial vehicle of control mother unmanned aerial vehicle steering control for sub-unmanned aerial vehicle can receive remote sensing signal and establish wireless remote control communication with the intelligent terminal, thereby makes the intelligent terminal can continue to shoot the work through controlling sub-unmanned aerial vehicle.
After disconnection and female unmanned aerial vehicle's wireless remote control communication, control female unmanned aerial vehicle and get into preset descending mode, start promptly and prevent falling the system on the female unmanned aerial vehicle, prevent falling the system and be current unmanned aerial vehicle and prevent falling the system, do not describe here repeatedly. Wherein get into preset descending mode at female unmanned aerial vehicle after, female unmanned aerial vehicle chance auto-eject buffering air cushion, the buffering air cushion prevents falling the component of system for unmanned aerial vehicle, reduce female unmanned aerial vehicle's descending loss, female unmanned aerial vehicle can open audible-visual annunciator when descending simultaneously, make the personnel perception on ground female unmanned aerial vehicle descending through warning sound and bright scintillation, so that personnel dodge female unmanned aerial vehicle's descending, and audible-visual annunciator can also make personnel more easy finding female unmanned aerial vehicle, after female unmanned aerial vehicle descends, according to the positioner on the female unmanned aerial vehicle, acquire female unmanned aerial vehicle's locating signal, make personnel can track locating signal and find female unmanned aerial vehicle descending position smoothly.
If the fault information is judged not to be the flight fault, whether the fault information is the shooting fault or not needs to be judged, whether the image acquired by the camera meets a preset shooting standard or not is judged through the intelligent terminal, and the preset shooting standard is a ratio numerical image of abnormal pixels such as black, gray and the like in the image. If it is the trouble of making a video recording, for example, the damage of female unmanned aerial vehicle camera leads to shooting the image incomplete, abnormal pixel such as black and grey accounts for than great in the image, is not conform to the standard of making a video recording of presetting, then carries out the communication with son unmanned aerial vehicle through controller control female unmanned aerial vehicle and is connected for son unmanned aerial vehicle has set up the wireless remote control communication, opening of controller control son unmanned aerial vehicle camera, then continues to shoot the work through the camera of controlling son unmanned aerial vehicle.
S5: and controlling the sub unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping.
Specifically, after the remote sensing equipment establishes wireless remote control communication with the sub unmanned aerial vehicle, the sub unmanned aerial vehicle can be controlled to enter a preset mapping mode to conduct building mapping, the intelligent terminal obtains mapping image information of the sub unmanned aerial vehicle and establishes a building mapping model according to the mapping image information, the technology is the prior art, a three-dimensional building mapping model can be established according to patent document CN108776738A, the obtained mapping image information is compared with a preset standard mapping image, the preset standard mapping image is clear and complete building image information to be detected, whether crack information exists in the mapping image is judged, the technology is the prior art, whether crack information exists can be detected according to patent document CN111709905A, and if crack information exists, the crack information is matched into the mapping model so that a person can know the specific position of the crack. It should be noted that this function of detecting the building crack not only can realize on son unmanned aerial vehicle, when mother unmanned aerial vehicle does not have the normal survey and drawing of trouble information, also can realize detecting the function of building crack.
The implementation principle of the building surveying and mapping method based on unmanned aerial vehicle remote sensing in the embodiment of the application is as follows: acquiring fault information of a master unmanned aerial vehicle; judging whether the fault information of the primary unmanned aerial vehicle is flight fault information or not, and if not, judging whether the fault information of the primary unmanned aerial vehicle is shooting fault information or not; if the shooting fault information is obtained, the master unmanned aerial vehicle and the slave unmanned aerial vehicle are in communication connection so as to carry out surveying and mapping through a camera of the slave unmanned aerial vehicle; if the flight fault information is obtained, starting a sub unmanned aerial vehicle installed on the master unmanned aerial vehicle and releasing the fixation of the sub unmanned aerial vehicle; disconnecting wireless remote control communication with the master unmanned aerial vehicle and establishing wireless remote control communication with the slave unmanned aerial vehicle; the method comprises the steps that a master unmanned aerial vehicle is controlled to enter a preset landing mode so as to slowly descend to the ground, and meanwhile, the master unmanned aerial vehicle can start an audible and visual alarm when landing, so that personnel can avoid the landing of the master unmanned aerial vehicle; at the moment, the remote control right of the intelligent end controls the sub unmanned aerial vehicle by controlling the main unmanned aerial vehicle to turn, and the sub unmanned aerial vehicle receives the remote sensing signal; controlling the sub-unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping, wherein the sub-unmanned aerial vehicle surveying and mapping comprises: obtaining mapping image information; building a building surveying and mapping model according to the surveying and mapping image information; comparing the mapping image information with a preset standard mapping image, and judging whether crack information exists on the mapping image; if there is fracture information, the fracture information is matched into the building mapping model so that the personnel know the specific location of the fracture.
The embodiment of the application also discloses a system of the building surveying and mapping method based on the unmanned aerial vehicle remote sensing. Referring to fig. 2, a system of a building surveying and mapping method based on unmanned aerial vehicle remote sensing includes: the method comprises the steps of obtaining a fault information module 1, judging a fault information module 2, removing a sub unmanned aerial vehicle fixing module 3, establishing a sub unmanned aerial vehicle communication module 4 and a control module 5.
The fault information acquisition module 1 is used for acquiring fault information of the primary unmanned aerial vehicle;
the fault information judging module 2 is used for judging whether the fault information of the parent unmanned aerial vehicle is flight fault information;
the child unmanned aerial vehicle fixing module 3 is removed and used for starting the child unmanned aerial vehicle installed on the parent unmanned aerial vehicle and removing the fixation of the child unmanned aerial vehicle if the flight fault information is obtained;
a communication module 4 of the son unmanned aerial vehicle is established, and is used for disconnecting the wireless remote control communication with the mother unmanned aerial vehicle and establishing the wireless remote control communication with the son unmanned aerial vehicle;
and the control module 5 is used for controlling the sub-unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping.
It should be noted that: in the system provided in the above embodiment, when the functions of the system are implemented, only the division of the functional modules is illustrated, and in practical application, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to implement all or part of the functions described above. In addition, the system and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.
The embodiment of the application also provides the electronic equipment.
Please refer to fig. 3, which is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 3, the electronic device 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, memory 1005, at least one communication bus 1002.
Wherein a communication bus 1002 is used to enable connective communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
The Memory 1005 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable medium. The memory 1005 may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 1005 may optionally be at least one memory device located remotely from the processor 1001. As shown in fig. 3, the memory 1005, which is a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program of a building mapping method based on drone remote sensing.
It should be noted that: in the above embodiment, when the device implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in detail in the method embodiments, which are not described herein again.
In the electronic device 1000 shown in fig. 3, the user interface 1003 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and the processor 1001 may be configured to invoke an application in the memory 1005 that stores a method for building mapping based on drone remote sensing, which when executed by the one or more processors, causes the electronic device to perform the method as described in one or more of the above embodiments.
An electronic device readable storage medium having instructions stored thereon. When executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments.
It is clear to a person skilled in the art that the solution of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, a Field-ProgrammaBLE Gate Array (FPGA), an Integrated Circuit (IC), or the like.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above description is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A building surveying and mapping method based on unmanned aerial vehicle remote sensing is characterized by comprising the following steps:
acquiring fault information of a master unmanned aerial vehicle;
judging whether the fault information of the primary unmanned aerial vehicle is flight fault information or not;
if the information is flight fault information, starting a child unmanned aerial vehicle installed on the parent unmanned aerial vehicle and releasing the fixation of the child unmanned aerial vehicle;
disconnecting wireless remote control communication with the master unmanned aerial vehicle and establishing wireless remote control communication with the slave unmanned aerial vehicle;
and controlling the sub unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping.
2. The building surveying and mapping method based on unmanned aerial vehicle remote sensing, according to claim 1, wherein after judging whether the fault information of the parent unmanned aerial vehicle is flight fault information, the method further comprises the following steps:
if the fault information is not flight fault information, judging whether the fault information of the primary unmanned aerial vehicle is shooting fault information;
if the camera shooting fault information is obtained, the master unmanned aerial vehicle and the slave unmanned aerial vehicle are communicated and connected to carry out surveying and mapping through the camera of the slave unmanned aerial vehicle.
3. The method for building surveying and mapping based on unmanned aerial vehicle remote sensing of claim 1, wherein in releasing the sub-unmanned aerial vehicle fixation, the method further comprises the following steps:
the electro-magnet outage on the female unmanned aerial vehicle of control makes it no longer adsorb son unmanned aerial vehicle.
4. The building surveying and mapping method based on unmanned aerial vehicle remote sensing of claim 1, wherein before disconnecting the wireless remote control communication with the parent unmanned aerial vehicle and establishing the wireless remote control communication with the child unmanned aerial vehicle, the method further comprises the following steps:
and controlling the master unmanned aerial vehicle to enter a preset landing mode so as to slowly descend to the ground.
5. The building surveying and mapping method based on unmanned aerial vehicle remote sensing of claim 4, wherein after controlling the master unmanned aerial vehicle to enter a preset landing mode, the method further comprises the following steps:
the opening of audible and visual alarm of the mother unmanned aerial vehicle is controlled, so that the mother unmanned aerial vehicle can send out audible and visual alarm signals when descending.
6. The building surveying and mapping method based on unmanned aerial vehicle remote sensing, according to claim 4, characterized by further comprising the following steps after controlling the master unmanned aerial vehicle to enter a preset landing mode:
and acquiring a positioning signal of the master unmanned aerial vehicle, and determining the specific position of the master unmanned aerial vehicle according to the positioning signal.
7. The building surveying and mapping method based on unmanned aerial vehicle remote sensing of claim 1, wherein after controlling the sub-unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping, the method further comprises the following steps:
obtaining mapping image information;
building a building surveying and mapping model according to the surveying and mapping image information;
comparing the mapping image information with a preset standard mapping image, and judging whether crack information exists on the mapping image;
if there is fracture information, the fracture information is matched into the building mapping model so that the personnel know the specific location of the fracture.
8. A system based on the building surveying and mapping method based on unmanned aerial vehicle remote sensing of any one of claims 1-7, characterized in that the system comprises:
the fault information acquisition module (1) is used for acquiring fault information of the primary unmanned aerial vehicle;
the fault information judging module (2) is used for judging whether the fault information of the primary unmanned aerial vehicle is flight fault information;
the child unmanned aerial vehicle fixing releasing module (3) is used for starting the child unmanned aerial vehicle installed on the parent unmanned aerial vehicle and releasing the fixation of the child unmanned aerial vehicle if the flight fault information is acquired;
a communication module (4) of the son unmanned aerial vehicle is established, and the communication module is used for disconnecting the wireless remote control communication with the mother unmanned aerial vehicle and establishing the wireless remote control communication with the son unmanned aerial vehicle;
and the control module (5) is used for controlling the sub unmanned aerial vehicle to enter a preset surveying and mapping mode to continue building surveying and mapping.
9. A computer-readable storage medium, characterized in that it stores instructions which, when executed, perform the method steps according to any one of claims 1 to 7.
10. An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1 to 7.
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