WO2019100188A1 - Procédé de planification d'un itinéraire de fonctionnement d'un véhicule aérien sans pilote et dispositif d'extrémité de sol - Google Patents

Procédé de planification d'un itinéraire de fonctionnement d'un véhicule aérien sans pilote et dispositif d'extrémité de sol Download PDF

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Publication number
WO2019100188A1
WO2019100188A1 PCT/CN2017/112024 CN2017112024W WO2019100188A1 WO 2019100188 A1 WO2019100188 A1 WO 2019100188A1 CN 2017112024 W CN2017112024 W CN 2017112024W WO 2019100188 A1 WO2019100188 A1 WO 2019100188A1
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WO
WIPO (PCT)
Prior art keywords
positioning information
image
mapping
information
work area
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PCT/CN2017/112024
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English (en)
Chinese (zh)
Inventor
贺克俭
李文林
王磊
林芊芊
田艺
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780029488.2A priority Critical patent/CN109154503A/zh
Priority to PCT/CN2017/112024 priority patent/WO2019100188A1/fr
Publication of WO2019100188A1 publication Critical patent/WO2019100188A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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

Definitions

  • the embodiment of the invention relates to the field of unmanned aerial vehicles, and particularly relates to a planning method for a drone operating route and a ground end device.
  • the farmland Before the agricultural drone performs the plant protection operation, the farmland needs to be surveyed and mapped.
  • the existing technology takes a circle around the farmland by the surveying and mapping personnel carrying the positioning device, and measures the positioning information of the farmland boundary point. Sometimes it is even necessary for surveyors to carry positioning devices to measure the location of obstacles in the farmland or around the farmland. Further, according to the positioning information of the farmland boundary point and the positioning information of the obstacle, the operation route of the drone is planned.
  • the embodiment of the invention provides a planning method for a UAV operating route and a ground end device to improve the planning efficiency of the UAV operating route.
  • a first aspect of the embodiments of the present invention provides a method for planning a UAV operating route, including:
  • mapping route information according to positioning information of the target area
  • a work route of the drone is determined based on the survey image.
  • a second aspect of the embodiments of the present invention provides a ground end device, including: a processor;
  • the processor is used to:
  • mapping route information according to positioning information of the target area
  • a work route of the drone is determined based on the survey image.
  • the planning method and the ground end equipment of the UAV operating route provided by the embodiment determine the mapping route information according to the positioning information of the target area by the ground station equipment, and control the drone to perform the surveying and mapping task in the target area according to the mapping route information.
  • the image of the target area is determined by the image information of the target area collected during the execution of the mapping task, and the operation route of the drone is determined according to the mapping image, compared to the prior art, Surveying and mapping personnel are required to carry a positioning device to walk around the farmland, measure the location information of the farmland boundary points, and locate the obstacles in the farmland or around the farmland, saving time and effort, and improving the planning efficiency of the drone operation route.
  • FIG. 1 is a flowchart of a method for planning a UAV operating route according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a communication system according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a communication system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 9 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 11 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 13 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention.
  • FIG. 14 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of a user interface according to an embodiment of the present invention.
  • FIG. 16 is a structural diagram of a ground end device according to an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a method for planning a UAV operating route according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Determine mapping route information according to positioning information of the target area.
  • the planning method of the UAV operating route provided by the embodiment of the present invention is applicable to the communication system shown in FIG. 2, as shown in FIG. 2, the communication system includes: a ground station device 21 and a drone 22, wherein the ground station
  • the device 21 may be a remote controller, a smart phone, a tablet computer, a ground control station, a laptop computer, a watch, a wristband, and the like, and a combination thereof.
  • the ground station device 21 may specifically be as shown in FIG. PC ground station 31.
  • the drone 22 may specifically be a drone that performs a surveying task.
  • the drone includes an agricultural drone.
  • the drone 22 is equipped with an imaging device 24 via the pan/tilt head 23.
  • the executive body of the method of the present embodiment may be a ground station device, such as the ground station device 21 shown in Figure 2, or a PC ground station 31 as shown in Figure 3.
  • This embodiment takes the PC ground station 31 as an example.
  • the PC ground station 31 can be equipped with software for controlling the drone to perform mapping tasks, the software providing a user interface that displays parameters for user settings.
  • the user interface 40 of the PC ground station 31 displays an electronic map 41.
  • the user in this embodiment may be a surveying person.
  • the surveying person may find the location of the working area on the electronic map 41. Specifically, it may be an area where farmland, forest, and the like are required to operate the drone.
  • the drone includes an agricultural drone. Before the operation of the agricultural drone, the work area needs to be mapped, the survey image of the work area is obtained, and the operation route of the agricultural drone is further planned according to the survey image of the work area.
  • the PC ground station 31 is required to determine the survey route information to control the drone 22 to perform the surveying task according to the survey route information. It can be understood that the drone 22 and the yoke performing the mapping task
  • the drones operating according to the planned operation route may be the same drone or different drones.
  • the target area including the work area is further determined on the electronic map 41, and the PC ground station 31 determines the target area determined by the surveyor on the electronic map 41.
  • the positioning information of the target area on the electronic map 41 for example, the positioning information of each boundary point on the boundary of the target area.
  • the PC ground station 31 may specifically determine the survey route information according to the location information of the target area, where the target area may be an area including the work area selected by the surveyor in the electronic map 41.
  • the determining the mapping route information according to the positioning information of the target area includes: determining positioning information of the target area according to a boundary point of the target area selected by the user in the electronic map; determining, according to the positioning information of the target area, Mapping route information.
  • the surveying and mapping personnel may include the following feasible implementation manners when selecting the target area in the electronic map:
  • the surveying person selects several boundary points of the target area, such as the boundary point 43, the boundary point 44, the boundary point 45, and the boundary point 46 on the electronic map 41.
  • the surveyor can select the boundary point 43, the boundary point 44, the boundary point 45, and the boundary point 46 of the target area on the electronic map 41 through an input device of the PC ground station 31, such as a mouse, a keyboard, or the like.
  • the screen of the PC ground station 31 may be a touch screen, and the surveyor may also select the boundary point 43, the boundary point 44, the boundary point 45, and the boundary of the target area on the electronic map 41 by clicking on the touch screen.
  • Point 46 The PC ground station 31 determines the target area 42 based on the boundary point 43, the boundary point 44, the boundary point 45, and the boundary point 46 selected by the surveyor.
  • Another possible implementation is that, as shown in FIG. 5, the surveyor first selects a point 51 on the electronic map 41, and then drags the mouse to the point 52 to select the target area 53.
  • the PC ground station 31 can determine the positioning information of the target area on the electronic map, for example, the positioning information of each boundary point on the boundary of the target area on the electronic map. Further, the PC ground station 31 determines the mapping route information according to the positioning information of the target area. As shown in FIG. 4, the PC ground station 31 determines the boundary of the target area 42, for example, the edge based on the boundary point 43, the boundary point 44, the boundary point 45, and the boundary point 46. The boundary between the boundary point 43 and the boundary point 44, the boundary between the boundary point 44 and the boundary point 45, the boundary between the boundary point 45 and the boundary point 46, the boundary between the boundary point 46 and the boundary point 43.
  • the mapping route 47 is determined, and the mapping route 47 includes a plurality of mapping waypoints, and the surveying personnel can also set the drone 22 through the user interface 40.
  • the flight height, flight speed, attitude, and required operations such as photographing, etc., can be understood
  • the mapping route information includes the positioning information of each mapping waypoint, and the flying height of the drone 22 at each mapping waypoint. Information such as flight speed, attitude, and operations to be performed.
  • Step S102 Control the drone to perform a surveying task according to the surveying route information in the target area, so that the drone collects image information of the target area in the process of executing the surveying task.
  • the PC ground station 31 and the drone 22 can be located in the geographic location corresponding to the target area at the same time.
  • the mapping route information is sent to the drone 22, and the drone 22 can perform the surveying task in the geographical area corresponding to the target area after receiving the mapping route information, that is, according to The man-machine 22 flies through each of the mapping waypoints at the flight altitude, flight speed, attitude, and operations required to perform each mapping point.
  • the drone 22 collects image information of the target area through the photographing device 24 mounted on the pan/tilt head 23 when flying to each of the surveying waypoints.
  • the image information of the target area collected by the photographing device 24 at each mapping waypoint is the image information of the partial area of the geographical location area corresponding to the target area.
  • the drone 22 can transmit the image information collected during the execution of the surveying task to the PC ground station 31 in real time, or the drone 22 stores the image information collected by the photographing device 24 first when performing the surveying task. After the drone 22 has finished performing the surveying task and returns to the ground, the stored image information is sent to the PC ground station 31.
  • Step S103 Determine a mapping image of the target area according to image information of the target area.
  • the PC ground station 31 performs image processing on the image information collected by the drone 22 during the execution of the surveying task, for example, splicing the image information collected by the photographing device 24 at each of the surveying waypoints to obtain a surveyed image of the target area.
  • 60 represents a mapping image of the target area 42
  • the mapping image may specifically be a mapping map
  • the mapping map may specifically be a satellite image.
  • the survey map may include high-precision work areas such as farmland, obstacles, and the like.
  • Step S104 Determine a work route of the drone according to the survey image.
  • the surveying person can see the work area 61, the obstacle 62, the obstacle 63, and the like in the survey image 60 by magnifying the survey image 60 on the PC ground station 31.
  • the work area 61 may specifically be a farmland, and the obstacle 62 may specifically be The road, the obstacle 63 may specifically be a tree, a utility pole or other object. This is only a schematic illustration and does not limit the specific content of the surveyed image. It will be appreciated that for the PC ground station 31, the positioning information for each pixel in the map image is known.
  • the PC ground station 31 can determine the operation route of the drone based on the boundary information of the work area 61 in the survey image 60, for example, the positioning information of the boundary point, and the positioning information of the obstacle.
  • the ground station device determines the mapping route information according to the positioning information of the target area, and controls the drone to perform the surveying task in the target area according to the mapping route information, and collects the collected mission during the execution of the surveying task.
  • the image information of the target area determines the mapping image of the target area, and the working route of the drone is determined according to the mapping image.
  • the surveying personnel are not required to carry the positioning device to walk around the farmland, and the measurement is performed.
  • the location information of farmland boundary points and the location information of obstacles in farmland or farmland save time and effort, and improve the planning efficiency of UAV operation routes.
  • Embodiments of the present invention provide a method for planning a UAV operating route.
  • FIG. 7 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention. As shown in FIG. 7 , based on the embodiment shown in FIG. 1 , step S104 determines the operation route of the drone according to the mapping image, and may include:
  • Step S701 determining positioning information of the work area in the surveying image.
  • the surveyor can enlarge the survey image 60 at the PC ground station 31, as shown in FIG. 8, 80 represents an enlarged view of the survey image 60.
  • the surveyor can view the boundaries of each work area, such as a farmland, Obstructions around the work area, obstacles in each work area, growth of crops in each work area, disaster areas, etc. Further, the surveyor can select the boundary of the work area in the enlarged view 80, and the PC ground station 31 determines the positioning information of the work area based on the boundary of the work area selected by the surveyor in the enlarged view 80.
  • the determining the positioning information of the working area in the mapping image comprises: acquiring positioning information of a boundary point of a working area selected by the user on the mapping image;
  • the positioning information of the boundary point of the industry area determines the positioning information of the work area in the surveying image.
  • a method for determining the positioning information of the working area 61 is described by taking one of the working areas 61 as an example.
  • the method for determining the positioning information of the other working areas is similar, and will not be further described herein.
  • the surveyor can select each boundary point of the work area 61 in the enlarged view 80. For example, the surveyor sequentially selects each boundary point of the work area 61 in the enlarged view 80 by the mouse, and the boundary point 81 is an enlarged view of the surveyor.
  • the PC ground station 31 can determine the positioning information of each boundary point of the work area 61 according to the respective boundary points of the work area 61 selected by the surveyor in the enlarged view 80, and further determine according to the positioning information of each boundary point of the work area 61.
  • the positioning information of the work area 61 and the method for determining the positioning information of the other work areas in FIG. 6 are similar, and will not be further described herein, thereby obtaining the positioning information of each work area 61 in the surveyed image 60.
  • Step S702 Determine a work route of the drone according to the positioning information of the work area in the survey image.
  • the PC ground station 31 can determine the work route in which the drone, such as an agricultural drone, operates in the work area 61.
  • the PC ground station 31 can also transmit the positioning information of the survey image 60 or/and the work area 61 to the control device of the agricultural drone or the server connected to the agricultural drone, as the agricultural drone.
  • the control device or the server communicatively connected to the agricultural drone receives the mapping image 60 or/and the positioning information of the work area 61, the work route of the agricultural drone working in the work area 61 is planned.
  • Embodiments of the present invention provide a method for planning a UAV operating route.
  • FIG. 9 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention. As shown in FIG. 9 , based on the embodiment shown in FIG. 1 or FIG. 7 , step S104 determines the operation route of the drone according to the mapping image, and may include:
  • Step S901 Determine positioning information of a work area in the surveying image.
  • Step S901 is consistent with the implementation manner and specific principles of step S701, and details are not described herein again.
  • Step S902 determining positioning information of an obstacle in the mapping image.
  • the PC ground station 31 can also determine the positioning information of the obstacle in the survey image 60.
  • the obstacle in the mapping image includes at least one of: an obstacle around the work area in the survey image, and an obstacle in the work area in the survey image.
  • the obstacle 62 and the obstacle 63 are obstacles around the work area 61.
  • an obstacle may also appear in the work area 61, for example, there is a pond in the farmland.
  • the pond is an obstacle in the farmland, or there is a utility pole in the farmland, which is an obstacle in the farmland.
  • Surveyors can zoom in on the survey image to detect obstacles around the farm and obstacles in the farm.
  • the following may be divided into several possible situations to determine the positioning information of the obstacle in the survey image:
  • determining the positioning information of the obstacle in the mapping image comprises: acquiring boundary information of an obstacle selected by the user on the mapping image; determining according to the boundary information of the obstacle The positioning information of the obstacle in the mapping image.
  • the surveyor can circle the obstacle with a polygon or a circle in the enlarged view 80. As shown in Fig. 10, the surveyor can circle the obstacle 62 with a matrix, circle the obstacle 63 with a circle, and circle the working area with a square.
  • the obstacle 100 in the 61 in this case, the obstacle 100 in the work area 61 may be a pond or the like.
  • the PC ground station 31 can determine the boundary information of the obstacle according to the boundary of the obstacle circled by the surveyor, and determine the positioning information of the obstacle in the survey image according to the boundary information of the obstacle. This is only a schematic illustration and does not limit the specific way in which the surveyor selects obstacles on the surveyed image.
  • the determining the positioning information of the obstacle in the mapping image comprises: determining positioning information of an obstacle point selected by the user on the mapping image.
  • the obstacle in the work area 61 may be only an obstacle point, such as a utility pole.
  • the surveyor can click on the obstacle point in the enlarged view 80, and the PC ground station 31 can be based on the surveying and mapping.
  • the location where the person clicks determines the location information of the obstacle point.
  • the obstacle point 101 is an obstacle point in the work area, and the surveying person can click the obstacle point 101 by the mouse, and the PC ground station 31 can determine according to the position of the surveyor clicking. Positioning information of the obstacle point 101.
  • Step S903 determining a work route of the drone according to the positioning information of the work area in the survey image and the positioning information of the obstacle in the survey image.
  • determining the operation route of the drone according to the positioning information of the work area in the survey image and the positioning information of the obstacle in the survey image including: positioning according to the work area in the survey image
  • the information, the obstacles around the work area or/and the location information of the obstacles in the work area determine the operation route of the drone.
  • the PC ground station 31 can determine that the drone is in the work area 61 based on the positioning information of the boundary point of the work area 61 and the boundary information of the obstacle 100 in the work area 61. The course of the job.
  • the PC ground station 31 may also determine the positioning information based on the boundary point of the work area 61, the boundary information of the obstacle 63 around the work area 61, and the boundary information of the obstacle 100 in the work area 61.
  • the embodiment determines the positioning information of the working area in the mapping image, and the positioning information of the obstacle in the mapping image, and according to the positioning information of the working area in the mapping image, and the obstacle in the mapping image.
  • the positioning information determines the operation route of the drone and improves the planning accuracy of the operation route.
  • Embodiments of the present invention provide a method for planning a UAV operating route.
  • FIG. 11 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention. As shown in FIG. 11 , based on the embodiment shown in FIG. 1 or FIG. 7 , step S104 determines the operation route of the drone according to the mapping image, and may include:
  • Step S1101 Determine positioning information of the work area in the survey image.
  • Step S1101 is consistent with the implementation manner and specific principles of step S701, and details are not described herein again.
  • Step S1102 Determine positioning information of the sub-areas in the work area in the survey image.
  • the surveyor can view the boundaries of each work area such as farmland, obstacles around each work area, obstacles in each work area, growth of crops in each work area, disaster areas, and the like. It can be understood that crops or disaster areas with poor growth in each work area are places where agricultural drones are required to work. For example, agricultural drones can be used for each work area. Repeated operations are carried out in areas where the crops are not growing well or in disaster areas. Therefore, the surveyor is required to determine a sub-area within the work area, which may be an area where the crop grows poorly or a disaster area, and the agricultural drone needs to repeat the operation of the sub-area.
  • the determining the positioning information of the sub-area in the working area in the mapping image comprises: acquiring positioning information of a boundary point of the sub-area in the working area selected by the user on the mapping image; The positioning information of the boundary points of the sub-areas in the work area determines the positioning information of the sub-areas in the work area in the survey image.
  • the sub-area 120 represents an area or a disaster area in which the crop growth is poor in the work area 61, and the surveyor can select each boundary point of the sub-area 120 in the enlarged view 80, and the boundary point 121 is an enlarged view of the surveyor.
  • the PC ground station 31 can determine the positioning information of each boundary point of the sub-area 120 according to the respective boundary points of the sub-areas 120 selected by the surveyor in the enlarged view 80, and further determine according to the positioning information of each boundary point of the sub-area 120. Positioning information of the sub-area 120.
  • Step S1103 Determine a work route of the drone according to the positioning information of the work area in the survey image and the positioning information of the sub-area in the work area.
  • the PC ground station 31 determines the work route operated by the drone, for example, the agricultural drone in the work area 61, based on the positioning information of the work area 61 and the positioning information of the sub-area 120.
  • the positioning information of the sub-areas determines the operation route of the drone, and improves the planning accuracy of the operation route.
  • Embodiments of the present invention provide a method for planning a UAV operating route.
  • FIG. 13 is a flowchart of a method for planning a UAV operating route according to another embodiment of the present invention. As shown in FIG. 13, the method in this embodiment may further include:
  • Step S1301 Obtain accurate positioning information of at least two reference points in the target area.
  • the target area 42 is an area selected by the surveyor on the electronic map. If there is a positioning error in the electronic map, the target area 42 may also have a certain positioning error. As a result, there is a certain mapping deviation of the mapped mapping image 60. In this embodiment, the mapping image 60 can be corrected by setting at least two reference points in the target area 42.
  • two reference points A and B are set in the geographic location area corresponding to the target area 42.
  • the surveyor can measure the reference point A by the precise positioning device at the position where the reference points A and B are located. Accurate positioning information, as well as accurate positioning information of reference point B.
  • the precision positioning device can be an RTK measuring device or a combination of a GPS positioning device and a specific sensing element. This embodiment takes an RTK measuring device as an example.
  • the obtaining the accurate positioning information of the at least two reference points in the target area includes: acquiring RTK positioning information of at least two reference points in the target area measured by the RTK measuring device.
  • the surveyor can measure the RTK positioning information of the reference point A and the RTK positioning information of the reference point B through the RTK measuring device at the position where the reference points A and B are located.
  • the surveyor can input the RTK positioning information of the reference point A and the RTK positioning information of the reference point B to the PC ground station 31.
  • the RTK measuring device may transmit the RTK positioning information of the reference point A and the RTK positioning information of the reference point B to the PC ground station 31.
  • two reference points are taken as an example.
  • the PC ground station 31 can also obtain more accurate positioning information of the reference points, such as RTK positioning information.
  • Step S1302 Correct the mapping image according to the positioning information of the at least two reference points in the mapping image and the precise positioning information of the at least two reference points.
  • the image information includes a reference point A and a reference point B.
  • the PC ground station 31 performs image processing on the image information collected by the drone 22 during the execution of the surveying task to obtain a surveying image of the target area, and the surveying image also includes the reference point A and the reference point B, as shown in FIG.
  • the mapping image 150 includes a reference point A and a reference point B. The PC ground station 31 can determine the positioning information of the reference point A in the survey image 150 and the positioning information of the reference point B in the survey image 150.
  • the PC ground station 31 is based on the RTK positioning information of the reference point A and the RTK positioning information of the reference point B, and the positioning information of the reference point A in the mapping image 150 and the positioning of the reference point B in the mapping image 150. Information can be corrected for the survey image 150.
  • the correcting the mapping image according to the positioning information of the at least two reference points in the mapping image and the accurate positioning information of the at least two reference points including: according to the at least two The positioning information of the reference points in the mapping image and the RTK positioning information of the at least two reference points determine the mapping deviation of the mapping image; and correct the mapping image according to the mapping deviation of the mapping image.
  • the mapping image 150 may have a mapping deviation
  • the RTK positioning information of the reference point A and the positioning information of the reference point A in the mapping image 150 may be unequal, and the RTK positioning information of the reference point B and the reference point B are in the mapping image.
  • the positioning information in 150 may also be different.
  • the PC ground station 31 may be based on the deviation between the RTK positioning information of the reference point A and the positioning information of the reference point A in the mapping image 150, and the RTK positioning information of the reference point B and the positioning information of the reference point B in the mapping image 150.
  • the deviation between the two determines the mapping deviation of the survey image 150.
  • the survey image 150 is further corrected based on the survey deviation of the survey image 150. For example, based on the mapping deviation of the surveyed image 150, the surveyed image 150 is translated or rotated to obtain a corrected surveyed image.
  • the mapping image 60 may specifically be a surveyed image corrected according to the method described in this embodiment.
  • the positioning information of the at least two reference points in the mapping image and the accurate positioning information of the at least two reference points are obtained by acquiring the accurate positioning information of the at least two reference points in the target area.
  • the accuracy of the mapping image is improved, and the operation route of the drone is planned based on the corrected mapping image, thereby improving the accuracy of the operation route.
  • FIG. 16 is a structural diagram of a ground end device according to an embodiment of the present invention.
  • the ground end device may specifically be the PC ground station 31 described in the above embodiment.
  • the ground end device 160 includes: a processor 161 and a communication interface 162; the processor 161 is configured to: determine mapping route information according to positioning information of the target area; and control the drone in the target area according to the Mapping the route information to perform a mapping task, so that the drone collects image information of the target area in the process of performing the mapping task; and determining a mapping image of the target area according to the image information of the target area; A work route of the drone is determined based on the survey image.
  • the processor 161 determines the operation route of the drone according to the mapping image
  • the method is: determining positioning information of a working area in the mapping image; and determining a working route of the drone according to positioning information of the working area in the mapping image.
  • the method is specifically configured to: acquire positioning information of a boundary point of a working area selected by the user on the mapping image; according to a boundary of the working area The positioning information of the point determines the positioning information of the working area in the mapping image.
  • the processor 161 is further configured to: determine positioning information of the obstacle in the mapping image; and correspondingly, the processor 161 performs an operation according to the mapping image.
  • the location information of the area is determined when determining the operation route of the drone, and is specifically configured to: determine the operation route of the drone according to the positioning information of the work area in the survey image and the positioning information of the obstacle in the survey image .
  • the method when determining, by the processor 161, the positioning information of the obstacle in the mapping image, is specifically configured to: acquire boundary information of an obstacle selected by the user on the mapping image; and according to the boundary information of the obstacle, Determining positioning information of an obstacle in the survey image.
  • the processor 161 determines the location information of the obstacle in the mapping image
  • the processor 161 is specifically configured to: determine location information of the obstacle point selected by the user on the mapping image.
  • the obstacle in the mapping image includes at least one of: an obstacle around the work area in the survey image, and an obstacle in the work area in the survey image.
  • the processor 161 is configured to: according to the positioning information of the working area in the mapping image and the positioning information of the obstacle in the mapping image, when the working route of the drone is determined, specifically: according to the mapping image
  • the positioning information of the middle work area, the obstacle around the work area or/and the positioning information of the obstacle in the work area determine the work route of the drone.
  • the processor 161 is further configured to: determine positioning information of the sub-area in the working area in the mapping image; and correspondingly, the processor 161 is configured according to the mapping
  • the positioning information of the working area in the image is used to determine the operating route of the drone, and is specifically configured to: determine the drone according to the positioning information of the working area in the mapping image and the positioning information of the sub-area in the working area Work route.
  • the method is specifically configured to: acquire positioning information of a boundary point of the sub-area in the working area selected by the user on the mapping image. Positioning letter according to the boundary point of the sub-area within the work area And determining positioning information of the sub-areas in the working area in the mapping image.
  • the processor 161 is further configured to: acquire accurate positioning information of at least two reference points in the target area; and perform positioning information in the mapping image according to the at least two reference points, and the at least two The precise positioning information of the reference points is corrected for the mapping image.
  • the processor 161 when acquiring the accurate positioning information of the at least two reference points in the target area, is specifically configured to: acquire RTK positioning information of at least two reference points in the target area measured by the RTK measuring device.
  • the processor 161 is configured to: according to the positioning information of the at least two reference points in the mapping image, and the precise positioning information of the at least two reference points, when the image is corrected, specifically: according to: Determining the mapping deviation of the mapping image by the positioning information of the at least two reference points in the mapping image and the RTK positioning information of the at least two reference points; correcting the calibration according to the mapping deviation of the mapping image Describe the painted image.
  • the processor 161 when determining the mapping route information according to the positioning information of the target area, is specifically configured to: determine, according to a boundary point of the target area selected by the user in the electronic map, positioning information of the target area; The positioning information determines the mapping route information.
  • the ground end device 160 further includes: a communication interface 162; the communication interface 162 is configured to send the mapping image to a control device of the agricultural drone or a server communicating with the agricultural drone to make the agricultural drone
  • the control device or the server communicating with the agricultural drone determines the operation route of the agricultural drone based on the surveyed image.
  • the ground station device determines the mapping route information according to the positioning information of the target area, and controls the drone to perform the surveying task in the target area according to the mapping route information, and collects the collected mission during the execution of the surveying task.
  • the image information of the target area determines the mapping image of the target area, and the working route of the drone is determined according to the mapping image.
  • the surveying personnel are not required to carry the positioning device to walk around the farmland, and the measurement is performed.
  • the location information of farmland boundary points and the location information of obstacles in farmland or farmland save time and effort, and improve the planning efficiency of UAV operation routes.
  • the disclosed device and the square The law can be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

Abstract

La présente invention concerne un procédé de planification d'un itinéraire de fonctionnement d'un véhicule aérien sans pilote et un dispositif d'extrémité de sol, le procédé comprenant: la détermination d'informations d'itinéraire de prospection au moyen d'un dispositif de station au sol en fonction d'informations de positionnement d'une zone cible (S101); la commande d'un véhicule aérien sans pilote pour exécuter une tâche de prospection dans la zone cible en fonction des informations d'itinéraire de prospection, et la détermination d'une image de prospection de la zone cible au moyen des informations d'image de la zone cible qui sont acquises par le véhicule aérien sans pilote lors de l'exécution de la tâche de prospection (S102, S103); et la détermination d'un itinéraire de fonctionnement du véhicule aérien sans pilote en fonction de l'image de prospection (S104). Par rapport à la technologie existante, le personnel de prospection n'a pas besoin de marcher en cercle autour de la terre agricole portant un dispositif de positionnement, des informations de positionnement d'un point limite de la terre agricole et des informations de positionnement d'obstacles dans ou autour de la terre agricole étant mesurées pour économiser du temps et de la main-d'oeuvre, ce qui permet d'augmenter l'efficacité de la planification d'un itinéraire de fonctionnement d'un véhicule aérien sans pilote.
PCT/CN2017/112024 2017-11-21 2017-11-21 Procédé de planification d'un itinéraire de fonctionnement d'un véhicule aérien sans pilote et dispositif d'extrémité de sol WO2019100188A1 (fr)

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PCT/CN2017/112024 WO2019100188A1 (fr) 2017-11-21 2017-11-21 Procédé de planification d'un itinéraire de fonctionnement d'un véhicule aérien sans pilote et dispositif d'extrémité de sol

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