CN117173875B - Unmanned aerial vehicle split type remote controller and path automatic identification method - Google Patents
Unmanned aerial vehicle split type remote controller and path automatic identification method Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle remote controllers, and particularly relates to an unmanned aerial vehicle split type remote controller and a path automatic identification method. According to the unmanned aerial vehicle split type remote controller and the path automatic identification method, the body of the remote controller can be bound on the body or the arm part of a manipulator, when the display screen is required to be conveniently watched, the whole shell of the remote controller is bound on the arm part through the split binding mechanism, and then the display screen is pulled and hinged and then is positioned in the visual field which can be observed by eyes, so that the remote controller can be conveniently watched while walking, and the visual field during running is not hindered.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle remote controllers, in particular to an unmanned aerial vehicle split type remote controller and a path automatic identification method.
Background
With the leap development of unmanned aerial vehicle technology, unmanned aerial vehicles are applied in various fields, and especially in the field of outdoor use demands are more and more refined, and new demands are required to be put forward for the demands of detail of remote controllers of unmanned aerial vehicles.
The intelligent high-altitude pesticide spraying unmanned aerial vehicle remote controller with the bulletin number of CN 217360600U disclosed on the Chinese patent website can meet the requirement of short-distance pesticide or nutrient solution spraying operation, but is not fine enough, if the agricultural cultivation is in the face of large-area outdoor operation, the hand-held remote controller can be stuck with more soil by the palm due to the fact that the agricultural cultivation is in contact with more soil, once the unmanned aerial vehicle shoots some abnormal conditions, operators need to go before to manually check and confirm, the walking is inconvenient due to the fact that the hand-held remote controller is stained with soil, and the remote controller is difficult to be cleaned.
If the region sprayed with pesticide or nutrient solution is a tree, an orchard, a vegetation or other plants on a mountain forest, when abnormal conditions occur, a manipulator needs to look ahead, the remote controller is convenient to carry, and some unfamiliar mountain roads need to be guided, but the mountain forest roads are difficult to build like urban roads, especially when some original plants are encountered or the mountain forest roads cannot be disturbed too much by human life tracks, so that the manipulator is more difficult to walk on unknown mountain roads by carrying the handheld remote controller, the direction and the walking can be guided only by mountain river channels flushed out by some mountain furrows or hidden small roads left by former human traces, but the problem of getting lost is also encountered, and if the hidden small roads have some bifurcation or break and other conditions which are not easy to identify, the hidden small roads are easier to get lost on the basis of not having definite path guidance.
Disclosure of Invention
Based on the prior art, the invention provides an unmanned aerial vehicle split type remote controller and a path automatic identification method.
The invention provides an unmanned aerial vehicle split remote controller, which comprises a shell and a handle, wherein rockers are arranged at two ends of the upper surface of the shell, and an antenna capable of rotating and adjusting an angle is further arranged at the front end of the shell.
Handles are arranged at the end surfaces of the two ends of the shell, a split binding mechanism which can be telescopically adjusted is arranged in the handles, when walking is needed, the shell is bound at the arm position or the waist position of the human body through the split binding mechanism, and a display screen is further hinged to the upper surface of the shell.
The surface of the handle is elliptical hollow, the outer surface of the handle is fixedly sleeved with a rubber sleeve, a wireless control module is fixedly installed in the handle, a USB interface for plugging and connecting the wireless control module is further arranged on the upper surface of the front end of the shell, and after the handle is worn on the hand, the handle sends an electric signal to the USB interface to control the flight state of the unmanned aerial vehicle.
Preferably, the split binding mechanism comprises a winding groove arranged on the length direction of the handle, two ends of the winding groove are rotatably connected with a roll shaft through bearings, a binding belt is wound on the surface of the roll shaft, one end of the binding belt extends to the outside of the winding groove, and a magic tape is fixedly arranged on the surface of the outer end of the binding belt.
Through above-mentioned technical scheme, hide the bandage inside the handle, not only can make full use of space, and can not hinder the normal use of remote controller, the bandage can be established to elastic bandage to better wearing.
Preferably, the outer end fixed mounting of magic subsides has the cardboard, the blind groove has been seted up at the surface middle part of cardboard, the inner wall of blind groove articulates there is U type and draws the knot, through U type draws to detain outwards the wiring is in human arm position or waist position behind the bandage, finally through the action that the magic subsides realization was worn.
Through the technical scheme, after the binding band is bound, the fastening is realized by using the magic tape, so that the remote controller is prevented from falling after being worn.
Preferably, the two ends of the roll shaft are sleeved with coil springs, the two ends of the coil springs are fixedly connected with the surface of the roll shaft and the inner wall of the winding groove respectively, and the roll shaft is always inwards wound with elastic force through the coil springs.
Through the technical scheme, the coil spring can give the elastic force of the binding belt which is always stretched back, so that the remote controller can be suitable for people with different body types to wear.
Preferably, a ratchet wheel is fixedly sleeved on one end surface of the roll shaft, a pawl is further arranged at the top position of the ratchet wheel, and when the binding band is pulled outwards to a specified length, the bottom of the pawl is meshed with the surface of the ratchet wheel to achieve positioning action on the roll shaft.
Through above-mentioned technical scheme, when wearing the back of accomplishing, in order to prevent that the elasticity of bandage and wind spring from being too big and cause the problem emergence of tightening, use the pawl to fix the ratchet this moment, in case meet elasticity too big, can outwards draw out a part more with the bandage, reuse pawl to block the ratchet, can prevent the problem emergence of tightening.
Preferably, the pawl is hinged at the bottom of the sliding rod in sliding connection with the handle, a straight key spring switch is fixedly arranged at the top of the sliding rod, when the binding belt is required to be wound and reset, the pawl is separated from the ratchet wheel after the straight key spring switch is pressed, and finally the binding belt is driven to be wound back into the winding groove under the action of the elasticity of the coil spring to realize the reset action.
Through the technical scheme, the straight key spring switch adopts the key principle of the old ball pen, so that the pure mechanical part is adopted to control whether the pawl is blocked or not, the effect is very effective, and the failure rate is low.
Preferably, the wireless control module comprises a bluetooth module, a chargeable power supply for supplying power to the bluetooth module is arranged at the top of the bluetooth module, contacts corresponding to the remote control actions of the rocker are fixedly arranged on the outer surface of the bluetooth module, elastic pressing rods are fixedly arranged on the outer surface of the shell, the elastic pressing rods correspond to the contacts one to one, and a signal receiving end of the bluetooth module is inserted into the USB interface.
Through above-mentioned technical scheme, utilize the advantage of the quick wireless transmission of bluetooth short distance's information, can prevent to wear the inconvenience that the back use wired control mode brought, the pencil takes place winding problem easily.
A method for automatically identifying a moving path of a split type remote controller of an unmanned aerial vehicle comprises the following steps that firstly, surrounding environment data of the current position of the remote controller is shot through a camera on the unmanned aerial vehicleAnd the acquired environmental data +.>And transmitting the learning result back to the remote controller for machine learning.
Step two, the unmanned aerial vehicle is according to the environmental data after machine learningSearching again for environmental data of the same parameters in the direction of advance of the remote control +.>And then converted into map data that can be displayed on a remote control display screen.
And thirdly, the remote controller operator selects an optimal path to advance according to map display.
Fourth, repeating the above steps at regular time; and (5) periodically re-determining the current surrounding environment position information of the operator and updating the travel route.
Preferably, the first step further includes S1, defining a task, and setting data in a current environment of a manipulator to be collected;
s2, collecting data, and collecting the same or similar data in the image information transmitted back by the unmanned aerial vehicle camera to form a data set.
Preferably, the second step includes S3, a design feature; setting specific characteristics in the data set, and giving corresponding threshold values；
S4, comparing and marking; for meeting design feature thresholdThe collected data are marked and are sequentially connected according to the sequence of the advancing direction to form corresponding paths.
The beneficial effects of the invention are as follows:
1. through setting up the handle, can be with the action that originally needs the hand to hold the remote controller and realize the remote control, change to holding the form of remote control key, just so can not hold the remote controller with the hand, conveniently walk the remote control unmanned aerial vehicle while in the uneven environment of open-air road surface, and oval handle laminating the gesture of holding more, increase the travelling comfort, make things convenient for long-time remote control unmanned aerial vehicle, signal in the handle adopts wireless control module to transmit.
2. Through setting up the components of a whole that can function independently and bind the mechanism, can bind the body of remote controller on the person's of controlling or arm position, when needing to conveniently watch the display screen, bind the whole casing of remote controller at arm position through the components of a whole that can function independently bind the mechanism, later pull the articulated back with the display screen, be in the visual field that eyes can observe, just so can not only conveniently walk the while and watch, and do not hinder the visual field on the way of traveling.
3. By setting the automatic identification method of the moving path of the remote controller, the picture shot by the upper visual angle of the unmanned aerial vehicle can be fully utilized, and the image information data in the picture can be automatically analyzed to obtain the environmental data of the position of the current operatorAutomatically analyzing and analyzing the current environmental data +.>Similar environmental dataOut, when the approximate threshold is reached +.>The dot data are connected in the form of lines, so that the optimal travel path can be accessed.
Drawings
Fig. 1 is a schematic diagram of a split type remote controller of an unmanned aerial vehicle according to the present invention;
fig. 2 is a perspective view of a handle structure of a split remote controller of an unmanned aerial vehicle according to the present invention;
fig. 3 is a perspective view of the strap structure of the split type remote controller of the unmanned aerial vehicle;
fig. 4 is a perspective view of a ratchet mechanism of a split remote controller of an unmanned aerial vehicle according to the present invention;
fig. 5 is a perspective view of a cardboard structure of a split type remote controller of an unmanned aerial vehicle according to the present invention;
fig. 6 is an environmental data schematic diagram of an automatic recognition method for a moving path of an unmanned aerial vehicle according to the present invention;
fig. 7 is a schematic diagram of threshold values of an automatic recognition method for a moving path of an unmanned aerial vehicle according to the present invention;
fig. 8 is a preliminary state diagram of a travel route data marker of the automatic recognition method of the unmanned plane travel route according to the present invention;
fig. 9 is a final state diagram of a travel route data tag of an automatic recognition method for a movement path of an unmanned aerial vehicle according to the present invention;
fig. 10 is a mountain travel route data marking state diagram of the unmanned plane travel route automatic identification method according to the present invention.
In the figure: 1. a housing; 2. a handle; 21. a rolling groove; 22. a roll shaft; 23. a strap; 24. a magic tape; 25. a clamping plate; 26. a hidden groove; 27. u-shaped pull buckles; 28. a coil spring; 29. a ratchet wheel; 210. a pawl; 211. a slide rod; 212. a straight key spring switch; 3. a rocker; 4. an antenna; 5. a grip; 6. a rubber sleeve; 7. a wireless control module; 71. a Bluetooth module; 72. a rechargeable power source; 73. an elastic pressing rod; 74. a contact; 8. a USB interface; 9. unmanned plane; 10. and a display screen.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-10, an unmanned aerial vehicle split remote controller, as shown in fig. 1, comprises a housing 1 and a grip 5, wherein rockers 3 are arranged at two ends of the upper surface of the housing 1, and an antenna 4 capable of rotating and adjusting an angle is further arranged at the front end of the housing 1.
As shown in fig. 1, in order to bind the remote controller on the operator at any time, so as to be convenient to carry, the end faces of two ends of the shell 1 are provided with handles 2, the interiors of the handles 2 are provided with telescopic and adjustable split binding mechanisms, when the user needs to walk, the shell 1 is bound on the arm part or the waist part of the user through the split binding mechanisms, and the upper surface of the shell is further hinged with a display screen 10.
As shown in fig. 1 and 3-5, the method is specifically implemented as follows: the split binding mechanism comprises a winding groove 21 formed in the length direction of the handle 2, two ends of the winding groove 21 are rotatably connected with a roll shaft 22 through bearings, a binding belt 23 is wound on the surface of the roll shaft 22, one end of the binding belt 23 extends to the outside of the winding groove 21, and a magic tape 24 is fixedly arranged on the surface of the outer end of the binding belt 23. The binding band 23 is hidden inside the handle 2, so that the space can be fully utilized, normal use of the remote controller is not hindered, and the binding band 23 can be an elastic binding band so as to be worn better.
Further, the outer end of the magic tape 24 is fixedly provided with a clamping plate 25, the middle part of the outer surface of the clamping plate 25 is provided with a hidden groove 26, the inner wall of the hidden groove 26 is hinged with a U-shaped pull buckle 27, the U-shaped pull buckle 27 is used for pulling the binding belt 23 outwards and then wrapping the binding belt at the arm position or the waist position of a human body, and finally the wearing action is realized through the magic tape 24. After the binding belt 23 is bound, the hook and loop fastener 24 is used for fastening, so that the remote controller is prevented from falling after being worn.
In order to prevent the problem that the remote controller falls or loosens during walking, coil springs 28 are sleeved at two ends of the roll shaft 22, two ends of the coil springs 28 are fixedly connected with the surface of the roll shaft 22 and the inner wall of the roll groove 21 respectively, and the roll shaft 22 is always inwards wound with elastic force through the coil springs 28. The coil spring 28 can give the strap 23 a constant back tension, which can make the remote control suitable for wearing by persons of different sizes.
In order to firmly fix the binding band 23, a ratchet 29 is fixedly sleeved on one end surface of the roller 22, a pawl 210 is further arranged at the top position of the ratchet 29, and after the binding band 23 is pulled outwards to a specified length, the bottom of the pawl 210 is meshed with the surface of the ratchet 29 to realize positioning action on the roller 22.
When the wearing is completed, in order to prevent the tightening problem caused by the overlarge elasticity of the binding belt 23 and the coil spring 28, the ratchet wheel 29 is fixed by the pawl 210, and once the overlarge elasticity is encountered, the ratchet wheel 29 is clamped by the pawl 210 after a part of the binding belt 23 is pulled outwards, so that the tightening problem can be prevented.
Further, the pawl 210 is hinged at the bottom of a sliding rod 211 slidably connected with the handle 2, a straight key spring switch 212 is fixedly installed at the top of the sliding rod 211, when the binding belt 23 needs to be wound and reset, the pawl 210 is separated from the ratchet 29 after the straight key spring switch 212 is pressed, and finally the binding belt 23 is driven to be wound back into the winding groove 21 under the action of the elasticity of the coil spring 28 to realize the reset action.
The straight key spring switch 212 adopts the key principle of the old ball pen, so that a purely mechanical part is adopted to control whether the pawl 210 is blocked or not, the efficiency is very high, and the failure rate is low.
Through setting up the components of a whole that can function independently and bind the mechanism, can bind the body of remote controller on the person's of controlling body or arm position, when needing to conveniently watch the display screen, bind the whole casing 1 of remote controller at arm position through the components of a whole that can function independently bind the mechanism, later pull the articulated back with display screen 10, be in the visual field that eyes can observe, just so can not only conveniently walk the while and watch, and do not hinder the visual field on the way of traveling.
As shown in fig. 2, in order to be able to conveniently walk while controlling, the surface of the grip 5 is set to be elliptical hollow, the outer surface of the grip 5 is fixedly sleeved with a rubber sleeve 6, a wireless control module 7 is fixedly installed inside the grip 5, a USB interface 8 for plugging and connecting the wireless control module 7 is further provided on the upper surface of the front end of the housing 1, and after the grip 5 is worn on the hand, the grip 5 sends an electrical signal to the USB interface 8 to control the flight state of the unmanned aerial vehicle 9.
Further, the wireless control module 7 includes a bluetooth module 71, a chargeable power supply 72 for supplying power to the bluetooth module 71 is provided at the top of the bluetooth module 71, contacts 74 corresponding to the remote control actions of the rocker 3 are fixedly mounted on the outer surface of the bluetooth module 71, elastic pressing rods 73 are fixedly mounted on the outer surface of the housing 1, the elastic pressing rods 73 correspond to the contacts 74 one by one, and a signal receiving end of the bluetooth module 71 is plugged into the USB interface 8. The wireless bluetooth control technology is a technology for remote control using a bluetooth wireless communication protocol. Through bluetooth technology, wireless communication and control between the remote control and the unmanned aerial vehicle 9 can be realized. The Bluetooth control technology has the advantages of convenience, rapidness, low power consumption, low cost and the like, and is widely applied and popularized.
Utilize the advantage of the quick wireless transmission of bluetooth short distance's information, can prevent to wear the inconvenience that the back use wired control mode brought, the pencil takes place winding problem easily.
Through setting up handle 5, can be with the action that originally needs the hand to hold the remote controller and realize the remote control, change to holding the form of remote control key, just so can not hold the remote controller with the hand, conveniently walk the remote control unmanned aerial vehicle while in the uneven environment of open-air road surface, and oval handle 5 laminating the gesture of holding more, increase the travelling comfort, make things convenient for the long-time remote control unmanned aerial vehicle, signal in the handle 5 adopts wireless control module 7 to transmit.
In order to fully utilize the air view angle of the unmanned aerial vehicle 9, the advancing path is automatically identified for the operator, video or picture data shot by the unmanned aerial vehicle 9 is transmitted back to the remote controller for neural network learning, and the path in the current advancing direction is automatically identified. The method is realized specifically as follows:
as shown in fig. 6-10, the method for automatically identifying the moving path of the unmanned aerial vehicle includes the steps of firstly, capturing surrounding environment data of the current position of the remote controller by a camera on the unmanned aerial vehicle 9 as shown in fig. 6And the collected environmental data is used for processing the environmental data,/>and transmitting the learning result back to the remote controller for machine learning.
As shown in fig. 6-7, when a ground remote controller operator needs to be led to the road, the remote controller is used for controlling a camera on the unmanned aerial vehicle to carry out current environmental data on the operatorCollecting, transmitting back to the remote controller for machine learning, the machine learning comprises the following steps:
s1, defining tasks and setting what data in the current environment of a manipulator need to be collected.
In particular to extracting and analyzing current environmental dataAmbient data samples in (1), e.g. color of the road where the current operator is located +.>And whether it is Dan Zilu or soil or roadside, since most of the previous roads are walked by people, and few follow-up roads are walked by people, the color of both sides or surfaces is>Similarly, stones or soil of the same type or grass plants of the same type can be brought to the road at one end of the road as long as people or vehicles walk on the road, and the color of the road can be changed as long as the stones or soil or grass plants of the same type are brought to the road at the other end of the road>Road surface shapeVegetation->Are assimilated together.
S2, collecting data, collecting the same or similar data in the image information transmitted back by the unmanned aerial vehicle camera to form a data set, training and testing the data in the data set, and finally obtaining a corresponding data training set and a data testing set.
Specifically, based on the fact that a certain road has many identical or similar points, training and testing can be performed by collecting information data of the type, so that a corresponding data training set and a corresponding data testing set are formed.
Step two, as shown in fig. 8, the unmanned aerial vehicle 9 learns environmental data according to the neural networkSearching again for environmental data of the same parameters in the direction of advance of the remote control +.>And then converted into map data that can be displayed on the remote control display screen 10.
As shown in FIG. 8, S3, designing features, setting specific features in the data set, and giving corresponding thresholdsThreshold->Upper threshold limit of->Threshold lower limit->Can be manually adjusted.
In particular, for the color of the roadRoad surface shape->Vegetation->Make threshold->Setting, to set the data information value of these images and the above-mentioned set threshold value +.>In contrast, the threshold value will be met hereby +>Is extracted and grouped together.
As shown in FIG. 9, S4, the alignment mark, the alignment meets the design feature thresholdThe collected data are marked and are sequentially connected according to the sequence of the advancing direction to form corresponding paths.
And simultaneously, matching the mountain landform map of the whole area shot by the unmanned aerial vehicle into the path according to the existing technology for processing the landform and the mountain landform, so as to obtain a travelling map which is closer to the actual path.
As shown in fig. 10, step three, the remote controller operator selects the optimum route to advance according to the map display. The method for selecting the optimal path is to calculate the shortest distance of the actual paths, and because many paths are likely to come out in the actual traveling paths, the optimal path needs to be selected, and therefore, the optimal path can be selected only by judging or arranging the shortest distance most in the standard of the optimal path.
And step four, repeating the steps at regular time. In the actual travelling process, the mountain, rock stratum, soil and vegetation of each region are changed at any time, so that the current surrounding environment position information of the operator needs to be regularly redetermined, and the closest travelling route is conveniently updated at regular time.
By setting the automatic identification method of the moving path of the remote controller, the picture shot by the upper visual angle of the unmanned aerial vehicle can be fully utilized, and the image information data in the picture can be automatically analyzed so as to locate the current operatorSetting environment dataAutomatically analyzing and analyzing the current environmental data +.>Similar environmental dataOut, when the approximate threshold is reached +.>The dot data are connected in the form of lines, so that the optimal travel path can be accessed.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (3)
1. The unmanned aerial vehicle split type remote controller comprises a shell (1) and a handle (5), wherein rockers (3) are arranged at two ends of the upper surface of the shell (1), and an antenna (4) capable of rotating and adjusting an angle is further arranged at the front end of the shell (1);
the method is characterized in that: the two end surfaces of the shell (1) are provided with handles (2), a telescopic and adjustable split binding mechanism is arranged in the handles (2), when a user needs to walk, the shell (1) is bound at the arm position or the waist position of the user through the split binding mechanism, and a display screen (10) is hinged to the upper surface of the shell;
the split binding mechanism comprises a winding groove (21) formed in the length direction of the handle (2), two ends of the winding groove (21) are rotatably connected with a roll shaft (22) through bearings, a binding belt (23) is wound on the surface of the roll shaft (22), one end of the binding belt (23) extends to the outside of the winding groove (21), and a magic tape (24) is fixedly arranged on the outer end surface of the binding belt (23);
the two ends of the roll shaft (22) are sleeved with coil springs (28), the two ends of the coil springs (28) are fixedly connected with the surface of the roll shaft (22) and the inner wall of the roll groove (21) respectively, and the roll shaft (22) is always inwards wound with elastic force through the coil springs (28);
a ratchet wheel (29) is fixedly sleeved on one end surface of the roll shaft (22), a pawl (210) is further arranged at the top position of the ratchet wheel (29), and after the binding belt (23) is pulled outwards to a specified length, the bottom of the pawl (210) is meshed with the surface of the ratchet wheel (29) to realize positioning action on the roll shaft (22);
the pawl (210) is hinged at the bottom of a sliding rod (211) which is in sliding connection with the handle (2), a straight key spring switch (212) is fixedly arranged at the top of the sliding rod (211), when the binding belt (23) needs to be rolled and reset, the pawl (210) is separated from the ratchet wheel (29) after the straight key spring switch (212) is pressed, and finally the binding belt (23) is driven to be rolled back into the rolling groove (21) under the action of the elasticity of the coil spring (28) to realize the reset action;
the surface of the handle (5) is in an elliptical hollow shape, a rubber sleeve (6) is fixedly sleeved on the outer surface of the handle (5), a wireless control module (7) is fixedly installed in the handle (5), a USB interface (8) for being connected with the wireless control module (7) in an inserted mode is further arranged on the upper surface of the front end of the shell (1), and after the handle (5) is worn on the hand, an electric signal is sent to the USB interface (8) through the handle (5) to control the flight state of the unmanned aerial vehicle (9);
the wireless control module (7) comprises a Bluetooth module (71), a chargeable power supply (72) for supplying power to the Bluetooth module (71) is arranged at the top of the Bluetooth module (71), contacts (74) corresponding to remote control actions of the rocker (3) are fixedly arranged on the outer surface of the Bluetooth module (71), elastic pressing rods (73) are fixedly arranged on the outer surface of the shell (1), the elastic pressing rods (73) correspond to the contacts (74) one by one, and a signal receiving end of the Bluetooth module (71) is inserted into the USB interface (8).
2. The unmanned aerial vehicle split remote control of claim 1, wherein: the magic subsides (24) outer fixed mounting have cardboard (25), the blind groove (26) has been seted up at the surface middle part of cardboard (25), the inner wall of blind groove (26) articulates has U type to draw to detain (27), through U type draws to detain (27) outwards the wiring is in human arm position or waist position behind bandage (23), finally passes through the action that wears is realized to magic subsides (24).
3. An automatic recognition method for a moving path of an unmanned aerial vehicle, which uses the unmanned aerial vehicle split remote controller according to claim 1, and is characterized in that: the method comprises the following steps that firstly, surrounding environment data of the current position of a remote controller are shot through a camera on an unmanned aerial vehicle (9)And the acquired environmental data +.>Transmitting back to the remote controller for machine learning;
the first step further comprises: s1, defining a task, and setting data in the current environment of a manipulator to be acquired;
s2, collecting data, and collecting the same or similar data in the image information transmitted back by the unmanned aerial vehicle camera to form a data set;
step two, the unmanned plane (9) is according to the environmental data after machine learningSearching again for environmental data of the same parameters in the direction of advance of the remote control +.>Then converting into map data which can be displayed on a remote control display screen (10);
the second step comprises the following steps:
s3, designing characteristics; setting specific characteristics in the data set, and giving corresponding threshold values；
S4, comparing and marking; for meeting design feature thresholdMarking the collected data, and sequentially connecting the collected data according to the sequence of the advancing direction to form corresponding paths;
step three, the remote controller operator selects an optimal path to advance according to map display;
fourth, repeating the above steps at regular time; and (5) periodically re-determining the current surrounding environment position information of the operator and updating the travel route.
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Citations (9)
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| CN117173875A (en) | 2023-12-05 |
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